A method for transferring a drying vehicle in and out of an oven based on visual guidance

Abstract

The present invention provides a method for transferring a drying cart in and out of an oven based on visual guidance, comprising: positioning the positions between an AGV forklift, a drying cart and an oven through visual guidance; pushing the first drying cart into the oven and then exiting through the AGV forklift, and then pushing the second drying cart toward the first drying cart, so that the second drying cart and the first drying cart are connected as a drying cart as a whole; pushing the drying cart as a whole into the corresponding position of the oven and then exiting through the AGV forklift; pulling the drying cart as a whole that has been dried in the oven out through the AGV forklift, and then separating the drying cart as a whole into the second drying cart and the first drying cart. The present invention obtains the relative positions between the AGV forklift, the drying cart and the oven through visual guidance positioning, and controls the AGV forklift to perform preliminary positioning and secondary deviation correction, and finally realizes the precise insertion and discharge of the drying cart, and uses the visual system to provide real-time monitoring and feedback, ensures the safety and accuracy of the operation, and improves the internal space utilization and drying efficiency of the oven, so as to solve the problem of the inconvenience of the front and rear drying carts entering and exiting the oven.

Description

Technical Field

[0001] The present invention relates to the technical field of drying equipment, and in particular to a method for transferring a drying vehicle in and out of a drying oven based on visual guidance. Background Art

[0002] The drying trolley is an important part of the drying process in the oven, and the way it enters and exits the oven has a direct impact on the efficiency and safety of the entire drying process. In traditional oven designs, drying trolleys usually use a full-forward automated guided vehicle (AGV) forklift to achieve entry and exit operations. However, the design of this forklift limits its ability to operate in narrow spaces, especially when the space inside the oven is limited. Multiple drying trolleys usually need to be placed inside the oven to improve space utilization and drying efficiency. In this case, the front and rear drying trolleys need to enter and exit the oven in turn. Due to the forward size limitation of the full-forward AGV forklift, its forward size is not enough to penetrate deep into the internal space of the oven, making it difficult to fully place the drying trolley in the oven and affecting the use of the oven's drying performance.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention and does not constitute any limitation to the present invention. Summary of the invention

[0004] In view of the shortcomings of the prior art mentioned above, the present invention provides a method for transferring a drying cart in and out of an oven based on visual guidance, which realizes accurate insertion and discharge of the drying cart through visual guidance positioning, improves the internal space utilization rate and drying efficiency of the oven, and solves the problem of the inconvenience of the front and rear drying carts entering and exiting the oven.

[0005] The present invention provides a method for transferring a drying vehicle in and out of an oven based on visual guidance, comprising:

[0006] Use vision guidance to locate the position between the AGV forklift, drying car and oven;

[0007] The first drying cart is pushed into the drying oven by the AGV forklift and then withdrawn, and the second drying cart is pushed toward the first drying cart, so that the second drying cart and the first drying cart are connected to form a drying cart as a whole;

[0008] Use the AGV forklift to push the drying trolley into the corresponding position of the oven and then exit;

[0009] The drying cart that has been dried in the oven is pulled out as a whole by an AGV forklift, and then the drying cart as a whole is separated into the second drying cart and the first drying cart.

[0010] In one embodiment of the present invention, the step of locating the positions of the AGV forklift, the drying cart and the oven by visual guidance includes: confirming the connection status between the camera and the controller; preparing for visual inspection of the AGV forklift, the drying cart and the oven; determining whether the AGV forklift, the drying cart and the oven are detected; and confirming that the AGV forklift moves the drying cart to the corresponding position of the oven based on visual guidance positioning.

[0011] In one embodiment of the present invention, after the step of confirming the connection status between the camera and the controller, it also includes: determining whether the arrival signal of the AGV forklift is received; if not, repeating the determination of the arrival signal of the AGV forklift; if so, executing the next process.

[0012] In one embodiment of the present invention, the steps of preparing for visual inspection of AGV forklifts, drying carts and ovens include: calling corresponding visual image data as inspection parameters according to the models of AGV forklifts, drying carts and ovens; forming a three-dimensional model point cloud of the AGV forklifts, drying carts and ovens through 3D camera imaging; and determining whether the AGV forklifts, drying carts and ovens are detected by executing a model matching algorithm of the visual image.

[0013] In one embodiment of the present invention, the step of determining whether the AGV forklift, drying cart and oven are detected includes: if the AGV forklift, drying cart and oven are detected in the 3D camera imaging, calculating the positional relationship between the AGV forklift and the drying cart or oven, and controlling the AGV forklift to perform preliminary positioning; if the AGV forklift, drying cart and oven are not detected in the 3D camera imaging, giving a prompt and ending the process.

[0014] In one embodiment of the present invention, after the step of controlling the AGV forklift to perform preliminary positioning, the step further includes: correcting the relative postures of the AGV forklift, the drying cart and the oven based on the positional relationship between them; taking images of the AGV forklift, the drying cart and the oven by a 2D camera; determining whether the AGV forklift, the drying cart and the oven are detected in the 2D camera image; and confirming that the AGV forklift has completed preliminary positioning based on vision-guided positioning.

[0015] In one embodiment of the present invention, the step of determining whether an AGV forklift, a drying cart and an oven are detected in 2D camera imaging includes: if an AGV forklift, a drying cart and an oven are detected in 2D camera imaging, obtaining the lateral offset value between the AGV forklift and the drying cart or the oven, controlling the AGV forklift to perform secondary precise deviation correction and positioning, and finally moving the drying cart to the oven by the AGV forklift to perform insertion and discharge operations; if no AGV forklift, a drying cart and an oven are detected in 2D camera imaging, giving a prompt and terminating the process.

[0016] In one embodiment of the present invention, the first drying trolley is an inner drying trolley of the oven, and the second drying trolley is an entrance-side drying trolley of the oven; the first drying trolley and the second drying trolley are connected and separated by a connecting assembly.

[0017] In one embodiment of the present invention, the connection assembly is disposed below the first drying trolley and the second drying trolley, and is connected and separated by changing the lifting height of the AGV forklift.

[0018] In one embodiment of the present invention, the AGV forklift is a full-forward-moving AGV forklift.

[0019] The beneficial effects of the present invention are as follows: through vision-guided positioning, the three-dimensional model point cloud of the AGV forklift, drying trolley and oven is obtained, and then the relative positions between them are detected and calculated through the model matching algorithm, and the 3D camera and 2D camera are used to form images accordingly, and the AGV forklift is controlled to perform preliminary positioning and secondary deviation correction respectively, and finally the precise insertion and discharge of the drying trolley is realized, thereby improving the internal space utilization and drying efficiency of the oven, and the whole process relies on the visual system to provide real-time monitoring and feedback to ensure the safety and accuracy of the operation.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 It is a flow chart of the method for transferring a drying vehicle in and out of an oven based on visual guidance according to the present invention;

[0023] Figure 2 It is a logic diagram of the method for transferring a drying cart in and out of an oven based on visual guidance according to the present invention;

[0024] Figure 3 A schematic diagram of the positions of the AGV forklift, the drying vehicle and the drying oven in one embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of the position between the AGV forklift and the drying vehicle in one embodiment of the present invention;

[0026] Figure 5 It is a structural schematic diagram of a drying vehicle in one embodiment of the present invention;

[0027] Figure 6It is a schematic diagram of the overall structure of a drying vehicle in one embodiment of the present invention.

[0028] In the figure: 1. AGV forklift; 2. drying car; 20. connection components; 3. oven. DETAILED DESCRIPTION

[0029] 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 by 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 features in the following embodiments and embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present invention are to describe specific specific embodiments, rather than to limit the scope of protection of the present invention.

[0030] See also Figures 1 to 6 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings in this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any structural modification, change in proportional relationship, or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention. At the same time, the terms such as position and quantitative relationship cited in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0031] See also Figures 1 to 4 The present invention provides a method for transferring a drying vehicle in and out of an oven based on visual guidance, comprising:

[0032] Use vision guidance to locate the positions between AGV forklift 1, drying car 2 and oven 3;

[0033] The first drying trolley 2 is pushed into the drying oven 3 and then withdrawn by the AGV forklift 1, and then the second drying trolley 2 is pushed toward the first drying trolley 2, so that the second drying trolley 2 and the first drying trolley 2 are connected to form a whole drying trolley 2;

[0034] The AGV forklift 1 pushes the drying cart 2 as a whole into the corresponding position of the drying oven 3 and then withdraws;

[0035] The drying trolley 2 that has been dried in the oven 3 is pulled out as a whole by the AGV forklift 1 , and then the drying trolley 2 as a whole is separated into the second drying trolley 2 and the first drying trolley 2 .

[0036] For further information, see Figure 5 and Figure 6 The first drying trolley 2 is the inner drying trolley 2 of the oven 3, and the second drying trolley 2 is the entrance side drying trolley 2 of the oven 3; the first drying trolley 2 and the second drying trolley 2 are connected and separated by a connecting component 20. The connecting component 20 is arranged below the first drying trolley 2 and the second drying trolley 2, and is connected and separated by the change of the lifting height of the AGV forklift 1. The AGV forklift 1 is a full forward-moving AGV forklift 1.

[0037] Specifically, before the transfer process in the embodiment of the present invention begins, the visual guidance system scans the current positions of the drying cart 2, the AGV forklift 1 and the oven 3 for positioning, and can monitor the dynamic changes of the positions in real time. By analyzing the visual image data, the system can accurately determine the relative positions of the drying cart 2 and the oven 3, as well as the moving path of the AGV forklift 1. The AGV forklift 1 automatically navigates to the location of the first drying cart 2 based on the position information provided by the visual system. Then the first drying cart 2 is slowly pushed into the oven 3 until it reaches the predetermined travel position. During this process, the movement of the AGV forklift 1 can be continuously monitored by the visual system to ensure that it operates accurately according to the predetermined path. After the first drying cart 2 is in place, the AGV forklift 1 exits the oven 3 and moves to the location of the second drying cart 2. Then the second drying cart 2 is pushed into the oven 3, and the visual system can be used to assist in alignment so that the second drying cart 2 is connected to the first drying cart 2 to form a drying cart 2 as a whole. Finally, the AGV forklift 1 pushes the connected drying cart 2 as a whole into the oven 3 until it reaches the corresponding position in the oven 3. The visual system can provide real-time feedback throughout the process to ensure that the overall moving path and final position of the drying car 2 meet the requirements.

[0038] Similarly, after the drying operation of the oven 3 is completed, the oven 3 opens its door, and the AGV forklift 1 pulls the drying cart 2 out of the oven 3 as a whole according to the position information provided by the visual system. The drying cart 2 is separated as a whole into the second drying cart 2 and the first drying cart 2 by the action of the AGV forklift 1 outside the oven 3. During the separation process, the visual system can assist the AGV forklift 1 in identifying the connection position between the drying carts 2 and perform the corresponding separation action to complete the separation of the drying cart 2 as a whole. After completing the above steps, the AGV forklift 1 and the visual system will repeat the above transfer steps to handle the subsequent transfer steps of the drying cart 2 in and out of the oven 3.

[0039] For further information, see Figure 5 and Figure 6The connection assembly 20 is designed to be installed under the first drying trolley 2 (inner drying trolley 2) and the second drying trolley 2 (entrance side drying trolley 2). This design allows the two drying trolleys 2 to be closely arranged inside the oven 3, maximizing the use of space. The connection assembly 20 is of conventional design and will not be described in detail here, including but not limited to simple hooks, etc., which complete the hooking and unhooking operations by changing the height of the full forward forklift to achieve the connection and separation of the first drying trolley 2 and the second drying trolley 2. For example, the connection assembly 20 may include a set of mutually engaged mechanical structures, so that the two drying trolleys 2 can be connected to each other as a whole, and can also be easily separated.

[0040] Through the lifting function of the full-forward AGV forklift 1, the engaging structure between the two drying carts 2 can be connected and separated by changing the height. In other words, the AGV forklift 1 can adjust its own height so that the connecting assembly 20 can dock under the adjacent drying carts 2. When it is necessary to connect the two drying carts 2, the AGV forklift 1 lowers its height so that the connecting assembly 20 can be inserted and locked, connecting the two drying carts 2 into a whole. When it is necessary to separate the drying carts 2, the AGV forklift 1 rises so that the connecting assembly 20 is disengaged, thereby achieving the separation of the drying carts 2.

[0041] It should be noted that the positional relationship between the AGV forklift 1, the drying cart 2 and the oven 3 can be located by visual guidance in a variety of ways, such as arranging a camera terminal in the work scene, obtaining the real-time positional relationship of the materials (i.e., the AGV forklift 1, the drying cart 2 and the oven 3) by taking pictures, and then determining the path for the AGV forklift to move the drying cart 2 into the oven 3, and ensuring the connection to form the drying cart 2 as a whole. Similarly, the drying cart 2 is divided into a first drying cart 2 and a second drying cart 2 according to the positional relationship distributed in the oven 3, which can be understood as the same drying cart 2 in essence, and are connected to form the drying cart 2 as a whole through the corresponding connection components 20 provided at the bottom of the drying cart 2. Therefore, in the embodiments of the present invention, the words containing the word drying cart 2 can be equivalently understood to refer to the same drying cart 2, and no further explanation is given here.

[0042] In this way, the drying cart 2 is divided into the first drying cart 2 and the second drying cart 2 according to the position parked inside the oven 3 by means of visual positioning guidance, and connected to form a drying cart 2 as a whole by means of the connecting assembly 20. Then, the drying cart 2 as a whole can be moved to the appropriate position of the oven 3 and parked by means of the AGV forklift 1 with limited shape, so as to improve the utilization rate of the internal space of the oven 3 and the drying efficiency, while ensuring the safety and flexibility of the operation. The positions between the drying cart 2, the AGV forklift 1 and the oven 3 are accurately identified and located by means of visual guidance positioning, so as to optimize the entry and exit process of the drying cart 2. The method of transferring the drying cart 2 in and out of the oven 3 based on visual guidance can effectively solve the problem of the limited operating capacity of the traditional full-forward AGV forklift 1 in a narrow space, improve the utilization rate of the internal space of the oven 3, and reduce the potential safety hazards during operation, thereby improving the efficiency of the entire drying process and the safety of operation.

[0043] See also Figure 1 and Figure 2 In one embodiment, the steps of positioning the positions of the AGV forklift 1, the drying cart 2 and the oven 3 by visual guidance include: confirming the connection status between the camera and the controller; preparing for visual inspection of the AGV forklift 1, the drying cart 2 and the oven 3; determining whether the AGV forklift 1, the drying cart 2 and the oven 3 are detected; and confirming that the AGV forklift 1 moves the drying cart 2 to the corresponding position of the oven 3 based on the visual guidance positioning.

[0044] Specifically, before starting visual guided positioning in an embodiment of the present invention, it is first necessary to ensure that the connection between the camera (image sensor) and the controller is normal. This includes checking whether all physical connections are firm and whether the communication at the software level is smooth. Ensure that the visual system can accurately capture and process image data. Before the visual inspection begins, the environment needs to be preset, including the setting of the light source, the calibration of the imaging system, and the configuration of the image sensor. At the same time, ensure that the imaging system can automatically focus to adapt to objects at different distances. The image sensor array is used to capture the environmental image, and the preset feature extraction algorithm is used to extract the preset visual features in the image. These features can be natural features, such as road markings, or artificial features, such as patterns laid at key points. By matching these features, the visual system can determine whether the AGV forklift 1, the drying car 2 and the oven 3 are successfully detected. The displacement information of the AGV forklift 1 is calculated by a preset displacement algorithm, such as the least squares method, and this information is used to guide the AGV forklift 1 to accurately move the drying car 2 to the predetermined position of the oven 3.

[0045] More specifically, the visual system will continuously monitor and adjust the movement of the guided positioning AGV forklift 1 to ensure that it operates accurately along the predetermined path. In addition, artificial marks can be used to assist in calibrating the calculated AGV forklift 1 to improve the accuracy of positioning. For example, corresponding patterns are laid at multiple preset key points, and the absolute positions of these patterns are used to correct the displacement information calculated by the current AGV forklift 1 at the preset key points to further improve the accuracy of positioning.

[0046] Similarly, the vision system not only plays a role in the initial positioning, but also provides real-time monitoring and adjustment during the entire transfer process of the drying cart 2. For example, if there is a slight change in the position of the drying cart 2 or the oven 3, the AGV forklift 1 will be guided to make corresponding adjustments to ensure that the drying cart 2 moves safely and accurately to the correct position in the oven 3. In this way, the vision-guided positioning method can ensure that the AGV forklift 1 can achieve high-precision and high-efficiency operation during the transfer process between the drying cart 2 and the oven 3.

[0047] In one embodiment, after the step of confirming the connection status between the camera and the controller, it also includes: determining whether the arrival signal of the AGV forklift 1 is received; if not, repeatedly determining the arrival signal of the AGV forklift 1; if yes, executing the next process.

[0048] Specifically, by judging whether the arrival signal of AGV forklift 1 is received, it is determined that the visual system has been connected to the communication interface of AGV forklift 1, and the status of AGV forklift 1 is monitored in real time. The arrival signal can be a confirmation signal sent after AGV forklift 1 reaches the predetermined position, indicating that the forklift is ready for the next operation, or it can be an arrival signal generated by detecting that AGV forklift 1 has arrived at the target position in the imaging of the visual system. If the visual system does not receive the arrival signal of AGV forklift 1, that is, AGV forklift 1 does not appear at the corresponding position. Instead, it will continue to monitor the status of AGV forklift 1 until it receives the arrival signal. During this process, the system may record the position and status of the forklift for fault diagnosis and subsequent optimization.

[0049] More specifically, when the vision system confirms that it has received the arrival signal of the AGV forklift 1, it will verify the accuracy of this signal. This may include checking the position of the forklift again to ensure that it matches the image data captured by the vision system. If confirmed to be correct, the system will execute the next process, which is to start the transfer operation of the drying cart 2. After confirming that the AGV forklift 1 is in place, the vision system will guide the AGV forklift 1 to perform the transfer operation of the drying cart 2. This includes moving the drying cart 2 from its current position to the entrance of the oven 3, or from the inside of the oven 3 to the exit. During the movement, the vision system can continuously monitor the position of the AGV forklift 1 and the drying cart 2 to ensure the safety and accuracy of the transfer process. Through this series of steps, the vision-guided positioning system ensures that the AGV forklift 1 achieves high-precision and high-efficiency operation during the transfer process between the drying cart 2 and the oven 3, while also improving the safety and reliability of the entire oven 3 drying process.

[0050] See also Figure 1 and Figure 2 In one embodiment, the steps of preparing for visual inspection of the AGV forklift 1, the drying cart 2 and the oven 3 include: calling corresponding visual image data as inspection parameters according to the models of the AGV forklift 1, the drying cart 2 and the oven 3; forming a three-dimensional model point cloud of the AGV forklift 1, the drying cart 2 and the oven 3 through 3D camera imaging; and judging whether the AGV forklift 1, the drying cart 2 and the oven 3 are detected by executing a model matching algorithm of the visual image.

[0051] Specifically, in the embodiment of the present invention, according to the specific models and features of the AGV forklift 1, drying car 2 and oven 3, the corresponding visual image data can be called from the database as detection parameters. These parameters include the preset visual features of the AGV forklift 1, drying car 2 and oven 3 and their extraction algorithms, as well as the sampling and image acquisition time, etc. They are parameters optimized for different equipment models to ensure the accuracy and efficiency of visual detection.

[0052] More specifically, by using a 3D camera to image the AGV forklift 1, drying car 2, and oven 3, depth data, point cloud data, and infrared reflected light intensity data can be collected. The 3D camera can provide three-dimensional visual information and form a three-dimensional model point cloud of the equipment, which can help understand the spatial position and form of the object and provide data support for the model matching algorithm. Using the extracted point cloud data, the model matching algorithm of the visual image is executed to determine whether the AGV forklift 1, drying car 2, and oven 3 are successfully detected. The model matching algorithm determines the precise position and posture of the equipment by comparing the actual captured image data with the pre-stored model data.

[0053] In this way, in the acquired image information, visual features are extracted by a preset feature extraction algorithm, and then feature matching is performed, such as identifying features such as corner points and edges in the image, and tracking and matching these features to determine the relative positions of the AGV forklift 1, the drying vehicle 2, and the drying oven 3.

[0054] See also Figure 1 and Figure 2 In one embodiment, the step of determining whether the AGV forklift 1, the drying car 2 and the oven 3 are detected includes: if the AGV forklift 1, the drying car 2 and the oven 3 are detected in the 3D camera imaging, then the positional relationship between the AGV forklift 1 and the drying car 2 or the oven 3 is calculated, and the AGV forklift is controlled to perform preliminary positioning; if the AGV forklift 1, the drying car 2 and the oven 3 are not detected in the 3D camera imaging, then a prompt is given and the process ends.

[0055] Specifically, in the embodiment of the present invention, the AGV forklift 1, drying car 2 and oven 3 can be imaged by a 3D camera to obtain their stereoscopic models and point cloud data. These data contain the depth information and spatial position of the equipment, which is the basis for subsequent position relationship calculation. Then, by analyzing the 3D camera imaging results, the preset visual image processing algorithm is used to identify and distinguish the AGV forklift 1, drying car 2 and oven 3.

[0056] If the AGV forklift 1, drying car 2 and oven 3 are successfully detected in the 3D camera imaging, the positional relationship between the AGV forklift 1 and the drying car 2 or oven 3 is calculated. This is used to control the AGV forklift 1 for preliminary positioning. According to the calculated positional relationship, a control instruction is sent to the AGV forklift 1 to guide it to perform preliminary positioning. For example, the direction, speed and height of the AGV forklift 1 are adjusted to ensure that it can accurately approach the drying car 2 or oven 3 to prepare for subsequent precise docking.

[0057] If AGV 1, Dryer 2, and Oven 3 are not detected in the 3D camera imaging, no further actions will be performed. Instead, it will send a prompt signal to inform the operator that the detection failed. This may be caused by the device not being in the camera's field of view, device occlusion, ambient light changes, or other interference factors. In this case, the current detection process will be terminated, and the operator may be prompted to manually intervene or check the device status.

[0058] In the event of a detection failure, the system also records a detailed error log, including timestamps, environmental conditions, and possible causes of the error. This can be used for subsequent fault diagnosis and system optimization. Real-time feedback can also be provided to operators through the user interface, including detection status, positioning results, and any error prompts. This helps operators quickly understand the system status and take appropriate actions as needed.

[0059] Thus, through these steps, the vision-guided positioning system can ensure the accurate identification and positioning of the AGV forklift 1 , the drying vehicle 2 and the oven 3 , thereby improving the automation level and operating efficiency of the entire drying process of the oven 3 .

[0060] See also Figure 1 and Figure 2 In one embodiment, after the step of controlling the AGV forklift to perform preliminary positioning, the step further includes: correcting the relative postures of the AGV forklift 1, the drying car 2 and the oven 3 based on the positional relationship between them; taking images of the AGV forklift 1, the drying car 2 and the oven 3 by a 2D camera; determining whether the AGV forklift 1, the drying car 2 and the oven 3 are detected in the 2D camera image; and confirming that the AGV forklift 1 has completed preliminary positioning based on vision-guided positioning.

[0061] Specifically, in the embodiment of the present invention, after the initial positioning, the relative posture correction can be performed based on the positional relationship between the AGV forklift 1, the drying car 2 and the oven 3. For example, the AGV forklift 1 can be fine-tuned to ensure that its relative position and angle with the drying car 2 or the oven 3 are in the best state, so as to prepare for precise docking. The correction process may need to consider multiple factors, including distance, angle and height, to achieve high-precision docking.

[0062] More specifically, after the initial positioning, the AGV forklift 1, drying car 2 and oven 3 can be imaged by a 2D camera. The 2D camera provides two-dimensional visual information, and the 2D image can capture the outline and shape information of the object, providing data support for subsequent detection and positioning. Using the images obtained by the 2D camera, the system will execute an image processing algorithm to identify and locate the AGV forklift 1, drying car 2 and oven 3. This step may include technologies such as image segmentation, feature extraction and target recognition to ensure that the system can accurately identify each device. If the detection is successful, the system will continue to execute the subsequent process; if the detection fails, it will prompt and end the process. Finally, it can be confirmed whether the AGV forklift 1 has completed the initial positioning based on the visual guidance positioning technology. This involves a final verification of the position and posture of the AGV forklift 1 to ensure that it has been accurately positioned next to the drying car 2 or oven 3 and is ready for the next step.

[0063] Thus, through the above steps, the precise positioning and docking of the AGV forklift 1, the drying vehicle 2 and the oven 3 can be achieved, thereby improving the automation level and operation efficiency of the entire drying process of the oven 3 and ensuring the safety and reliability of the operation.

[0064] See also Figure 1 and Figure 2 In one embodiment, the step of determining whether the AGV forklift 1, the drying car 2 and the oven 3 are detected in the 2D camera imaging includes:

[0065] If AGV forklift 1, drying cart 2 and oven 3 are detected in the 2D camera image, the lateral offset value between AGV forklift 1 and drying cart 2 or oven 3 is obtained, and the AGV forklift is controlled to perform secondary precise deviation correction and positioning. Finally, the drying cart 2 is moved to oven 3 by AGV forklift 1 to insert and discharge materials.

[0066] If the AGV forklift 1, drying car 2 and oven 3 are not detected in the 2D camera image, a prompt is given and the process ends.

[0067] Specifically, in the embodiment of the present invention, the existence of the AGV forklift 1, the drying car 2 and the oven 3 is identified through the current environment image data acquired by the 2D camera, and it is determined whether the AGV forklift 1, the drying car 2 and the oven 3 are successfully detected.

[0068] If AGV forklift 1, drying cart 2 and oven 3 are successfully detected in the 2D camera image, the lateral offset value between AGV forklift 1 and drying cart 2 or oven 3 will be obtained. This offset value is calculated by comparing the position of AGV forklift 1 and the target object (drying cart 2 or oven 3) in the image to ensure that the relative position between them can be accurately determined. Then, based on the obtained lateral offset value, AGV forklift 1 is controlled to perform secondary precise deviation correction positioning. For example, the direction, speed and moving distance of AGV forklift 1 are adjusted to ensure that it can accurately align with drying cart 2 or oven 3. At the same time, the movement of AGV forklift 1 is monitored to ensure that it operates accurately according to the predetermined path.

[0069] When the AGV forklift 1 completes the second accurate deviation correction positioning, it will instruct the AGV forklift 1 to perform the insertion and unloading action, such as pushing the drying cart 2 into the drying oven 3 or taking the drying cart 2 out of the drying oven 3. During this process, the visual system can continue to provide real-time feedback to ensure the safety and accuracy of the operation.

[0070] If the AGV forklift 1, drying car 2 and oven 3 cannot be detected in the 2D camera image, a prompt is issued to inform the operator that the detection has failed. The current detection process is terminated, and the operator can be prompted to manually intervene or check the equipment status.

[0071] Thus, through these steps, the use of vision-guided positioning can ensure accurate identification and positioning of the AGV forklift 1, the drying vehicle 2 and the oven 3, thereby improving the automation level and operating efficiency of the entire drying process of the oven 3.

[0072] In summary, the present invention provides a method for transferring a drying cart in and out of an oven based on vision-guided positioning. The three-dimensional model point cloud of the AGV forklift, the drying cart and the oven is obtained through vision-guided positioning. Then, the relative positions thereof are detected and calculated through a model matching algorithm. A 3D camera and a 2D camera are used to form images accordingly. The AGV forklift is controlled to perform preliminary positioning and secondary deviation correction respectively, and finally the precise insertion and discharge of the drying cart is realized, thereby improving the internal space utilization and drying efficiency of the oven. The entire process relies on the visual system to provide real-time monitoring and feedback to ensure the safety and accuracy of the operation.

[0073] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A method for transferring a drying vehicle in and out of an oven based on visual guidance, characterized in that: include: Use vision guidance to locate the position between the AGV forklift, drying car and oven; The first drying cart is pushed into the oven by the AGV forklift and then withdrawn, and the second drying cart is pushed toward the first drying cart, so that the second drying cart and the first drying cart are connected to form a whole drying cart; The AGV forklift pushes the drying cart as a whole into the corresponding position of the oven and then withdraws; The drying cart after the oven drying is pulled out as a whole by the AGV forklift, and then the drying cart as a whole is separated into the second drying cart and the first drying cart.

2. The method according to claim 1, characterized in that The step of positioning the positions between the AGV forklift, the drying vehicle and the oven by visual guidance comprises: Confirm the connection status between the camera and the controller; Perform visual inspection preparation of the AGV forklift, the drying vehicle and the drying oven; Determining whether the AGV forklift, the drying vehicle, and the drying oven are detected; Based on vision-guided positioning, the AGV forklift confirms that it moves the drying cart to the corresponding position of the oven.

3. The method according to claim 2, characterized in that After the step of confirming the connection status between the camera and the controller, the method further includes: Determine whether the arrival signal of the AGV forklift is received; If not, repeatedly determine the arrival signal of the AGV forklift; If yes, execute the next process.

4. The method according to claim 2, characterized in that: The step of preparing for visual inspection of the AGV forklift, the drying vehicle and the oven comprises: According to the models of the AGV forklift, the drying vehicle and the drying oven, corresponding visual image data are called as detection parameters; Forming a three-dimensional model point cloud of the AGV forklift, the drying vehicle and the oven through 3D camera imaging; Whether the AGV forklift, the drying truck and the drying oven are detected is determined by executing a model matching algorithm of the visual image.

5. The method according to claim 4, characterized in that The step of determining whether the AGV forklift, the drying vehicle, and the oven are detected comprises: If the AGV forklift, the drying cart and the oven are detected in the 3D camera imaging, the positional relationship between the AGV forklift and the drying cart or the oven is calculated, and the AGV forklift is controlled to perform preliminary positioning; If the AGV forklift, the drying truck and the drying oven are not detected in the 3D camera imaging, a prompt is given and the process ends.

6. The method according to claim 5, characterized in that After the step of controlling the AVG forklift to perform preliminary positioning, the method further includes: Correcting the relative postures among the AGV forklift, the drying vehicle, and the drying oven based on the positional relationship among them; Taking images of the AGV forklift, the drying vehicle and the drying oven by using a 2D camera; Determining whether the AGV forklift, the drying vehicle, and the drying oven are detected in the 2D camera imaging; The AGV forklift is confirmed to have completed preliminary positioning based on vision-guided positioning.

7. The method according to claim 6, characterized in that The step of determining whether the AGV forklift, the drying vehicle and the drying oven are detected in the 2D camera imaging includes: If the AGV forklift, the drying trolley and the oven are detected in the 2D camera image, the lateral offset value between the AGV forklift and the drying trolley or the oven is obtained, the AGV forklift is controlled to perform secondary precise deviation correction and positioning, and finally the drying trolley is moved to the oven by the AGV forklift to insert and discharge the materials; If the AGV forklift, the drying truck and the drying oven are not detected in the 2D camera imaging, a prompt is given and the process ends.

8. The method according to any one of claims 1 to 7, characterized in that: The first drying trolley is an inner drying trolley of the oven, and the second drying trolley is a door entrance side drying trolley of the oven; the first drying trolley and the second drying trolley are connected and separated by a connecting component.

9. The method according to claim 8, characterized in that The connection assembly is arranged below the first drying trolley and the second drying trolley, and is connected and separated by changing the lifting height of the AGV forklift.

10. The method according to claim 8, characterized in that The AGV forklift is a full forward-moving AGV forklift.

Images