Container identifying and positioning device for forklift

Abstract

The embodiment of the utility model discloses a container identifying and positioning device for a forklift. A positioning antenna, a container number camera and a host are integrated, the container number camera is triggered to shoot in combination with a weighing sensor and double distance measuring sensors, position information of a forklift and image information of a container are obtained, the container number of the container is determined according to the image information, and the position of the container is determined according to data of the distance measuring sensors. Therefore, container number identification and positioning in the forklift transportation process can be achieved, manual operation is reduced, and the transportation efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the transportation field, concretely relates to a container identification positioning device for forklift. BACKGROUND

[0002] With the vigorous development of the logistics industry, the automatic identification of container loading and unloading information, the informatization management and the application of the freight yard control platform put forward more stringent requirements for the rapid and accurate identification of container number and the informatization management of the container area and the container position. In the prior art, the forklift is used as an auxiliary tool for the loading and unloading of the freight yard container. In the process of container transportation and storage, the container number may be damaged due to various reasons, strong or weak light and bad weather, which makes it difficult for the identification equipment to accurately read the container number information. At the same time, the forklift cannot realize automatic identification and positioning during the transportation of the container, and the problem of manual operation and low transportation efficiency occurs. SUMMARY

[0003] Therefore, the utility model aims at providing a container identification positioning device for forklift to realize automatic identification and positioning during the transportation of the forklift, reduce manual operation and improve transportation efficiency.

[0004] In the first aspect, the utility model embodiment provides a container identification positioning device for forklift, which comprises:

[0005] A positioning antenna configured to obtain the position information of the forklift;

[0006] A container number camera configured to obtain the image information of the container;

[0007] A host machine in communication connection with the container number camera and configured to determine the container number of the container according to the image information.

[0008] In some embodiments, the device further comprises:

[0009] A weighing sensor installed on the forklift and in communication connection with the host machine and configured to obtain the load signal of the fork frame of the forklift and send the load signal to the host machine.

[0010] In some embodiments, the host machine is configured to drive the container number camera to obtain the image information of the container when the load signal is a rising edge signal.

[0011] In some embodiments, the host machine is configured to drive the positioning antenna to obtain the position information of the forklift when the load signal is a falling edge signal.

[0012] In some embodiments, the device further comprises:

[0013] A first distance sensor is installed on a vertical frame of the forklift and is configured to measure a first distance of the container relative to the vertical frame of the forklift.

[0014] A second distance sensor is installed on a fork frame of the forklift and is configured to measure a second distance of the container relative to the ground.

[0015] In some embodiments, the host is configured to obtain first position information of the container relative to the forklift according to the first distance and the second distance.

[0016] In some embodiments, the positioning antenna comprises:

[0017] A first antenna is installed at a top central position of a cab of the forklift and is configured to obtain first positioning information;

[0018] A second antenna is installed at a rear side of the cab of the forklift and is configured to obtain second positioning information.

[0019] In some embodiments, the host is configured to determine second position information and a direction of the forklift according to the first positioning information and the second positioning information.

[0020] In some embodiments, the host is further configured to determine storage position information and a storage layer number of the container according to the first position information and the second position information.

[0021] In some embodiments, the host is further configured to send the position information of the forklift and a container number of the container to an upper computer.

[0022] The technical scheme of the embodiment of the utility model integrates the positioning antenna, the container number camera and the host, and combines the weighing sensor and the double distance sensor to trigger the container number camera to take pictures, to obtain the position information of the forklift and the image information of the container, to determine the container number of the container according to the image information, and to determine the position of the container according to the distance sensor data. Therefore, the container number recognition and positioning in the forklift transportation process can be realized, manual operation is reduced, and transportation efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and other objects, features and advantages of the utility model will become more apparent from the following description of the utility model embodiments with reference to the accompanying drawings, in which:

[0024] Figure 1 is a schematic diagram of a forklift management system of the embodiment of the utility model;

[0025] Figure 2 is a schematic diagram of a container recognition and positioning device for a forklift of an embodiment of the utility model;

[0026] Figure 3 is a schematic view of a container identification and positioning device for a forklift of another embodiment of the present application;

[0027] Figure 4 is a schematic view of a load signal of an embodiment of the present application;

[0028] Figure 5 is a schematic view of a box number camera of an embodiment of the present application;

[0029] Figure 6 is a schematic view of a positioning antenna installation position of an embodiment of the present application;

[0030] Figure 7 is a schematic view of a distance measuring sensor installation position of an embodiment of the present application;

[0031] Figure 8 is a schematic view of a distance measuring sensor working of an embodiment of the present application;

[0032] Figure 9 is a schematic view of a distance measuring sensor working of another embodiment of the present application;

[0033] Figure 10 is a working schematic view of a container identification and positioning device for a forklift of an embodiment of the present application. DETAILED DESCRIPTION

[0034] The present application is described below based on embodiments, but the present application is not limited to only these embodiments. In the following detailed description of the present application, some specific details are described in detail. The present application can also be fully understood without the description of these details by those skilled in the art. In order to avoid confusion of the essence of the present application, well-known methods, processes, flows, elements and circuits are not described in detail.

[0035] In addition, those of ordinary skill in the art should understand that the drawings provided herein are for illustrative purposes only and the drawings are not necessarily drawn to scale.

[0036] Unless the context clearly requires otherwise, throughout the description, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to".

[0037] In the description of the present application, it should be understood that the terms "first", "second", and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise stated, the meaning of "multiple" is two or more.

[0038] In the container terminal, the yard and the comprehensive terminal and the yard with small throughput, the empty container can be unloaded and loaded by the container forklift. The container forklift can quickly and efficiently complete the following tasks: unloading or loading the empty container from the train, and moving the empty container in the box area. Through the moving action of the forklift, the container can be smoothly moved to the destination. At the same time, the forklift can also transfer the empty container from the terminal to the truck or the train, and neatly stack the container in the storage place, and adjust the height and position of the container as needed.

[0039] Figure 1 It is a schematic diagram of the forklift management system of the embodiment of the utility model. As shown in Figure 1 The forklift management system comprises a plurality of forklifts 201, 202,..., N and a host computer 101. The host computer 101 is responsible for receiving and processing the position information from each forklift and the container number carried by each forklift. At the same time, the user can also intuitively obtain the real-time position, operation state and container number of the forklift on the host computer software interface. At the same time, the host computer can also support historical data query, report generation and other functions, providing comprehensive operation detection and data analysis support for managers. The plurality of forklifts 201, 202,..., N have strong lifting and moving capacity, can quickly and efficiently unload or load the container, and smoothly move it to the destination. At the same time, the forklift comprises a positioning antenna, a container number camera and a host. The positioning antenna is installed on the forklift and is used for obtaining the position information of the forklift in real time. The antenna determines the accurate position of the forklift by receiving satellite signals or base station signals, and sends the position information to the host of the forklift. The container number camera is installed within the sight range of the forklift operator and is used for shooting the image information of the container. The camera adopts a high-resolution camera and can clearly capture the container number and other key information on the container. The host is the core control unit of the forklift and is in communication connection with the positioning antenna and the container number camera. The host is responsible for receiving and processing the data from the positioning antenna and the container number camera, determining the container number according to the image information, and packaging and sending the forklift position information and the container number to the host computer 101.

[0040] The embodiment of the utility model realizes efficient and accurate management of the forklift operation process by integrating advanced positioning technology and image recognition technology. The forklift management system mainly comprises a plurality of forklifts and a host computer. Through the cooperative work of the positioning antenna, the container number camera and the host and other components on the forklift, the real-time acquisition and transmission of the forklift position information and the container number are realized, thereby providing comprehensive operation detection and data analysis support for managers.

[0041] Figure 2 It is a schematic diagram of the container recognition and positioning device for the forklift of one embodiment of the utility model. As shown in Figure 2As shown, the circuit diagram of the forklift management system includes a positioning antenna 112, a box number camera 113, and a host computer 111. The positioning antenna 112 is configured to obtain position information of the forklift. The box number camera 113 is configured to obtain image information of the container. The host computer 111 is in communication connection with the box number camera 113 and is configured to determine the box number of the container according to the image information.

[0042] The positioning antenna 112 is connected to the host computer 111 by wired or wireless methods. The positioning antenna 112 can receive radio signals from satellites or ground base stations, which can contain timestamps and satellite position information. By calculating the signal propagation time and the positions of multiple satellites, the precise position of the forklift can be determined. At the same time, the positioning antenna 112 sends the position information of the forklift to the host computer 111.

[0043] The box number camera 113 is connected to the host computer 111 by wired or wireless methods. The box number camera 113 captures images of the container surface through a lens and uses a built-in image processor to pre-process the images, such as noise reduction, contrast enhancement, etc., to improve the accuracy of subsequent image recognition. At the same time, the box number camera 113 sends the box number of the container to the host computer 111.

[0044] The host computer 111 is the core processing unit of the forklift management system, which is responsible for receiving data from the positioning antenna 112 and the box number camera 113 and performing processing and analysis. The host computer 111 is installed in the forklift cab and connected to the positioning antenna and the box number camera through a communication interface. It receives raw data from these devices and processes the data using built-in software algorithms, such as position coordinate analysis, image recognition algorithm application, etc. The host computer 111 is not only responsible for data collection and processing, but also responsible for sending processed forklift position and container box number to the warehouse management system or other related systems to realize information sharing and integration. In addition, the host computer 111 may also have data storage, alarm prompt, and user interface display functions to support real-time detection and operation guidance for warehouse managers.

[0045] The embodiment of the utility model integrates positioning antenna, box number camera and host computer, and combines weighing sensor and double ranging sensor to trigger the box number camera to shoot, obtains the position information of forklift and the image information of container, and determines the box number of container according to the image information, and determines the position of container according to the data of ranging sensor. Therefore, the box number recognition and positioning in the forklift transportation process can be realized, manual operation is reduced, and transportation efficiency is improved.

[0046] Figure 3 is the schematic diagram of the container identification and positioning device for forklift of another embodiment of the utility model. In Figure 3The device includes a host 111, a box number camera 113, a first antenna 114, a second antenna 115, a weighing sensor 116, a first distance measuring sensor 117 and a second distance measuring sensor 118.

[0047] The weighing sensor 116 is installed in the vertical support frame of the forklift and is located at the key stress point of the vertical lifting structure stress support, so that the force change of the fork frame when lifting the container can be accurately captured, the weighing sensor 116 can accurately detect the force borne by the fork frame when lifting the container and convert it into a load signal.

[0048] In some embodiments, the weighing sensor 116 can be implemented by a spoke type weighing sensor. The spoke type weighing sensor adopts a spoke type elastomer structure, and the spokes are symmetrically distributed between the hub and the rim, mostly 4, 6 or 8. The elastic element is a symmetrical whole structure, which facilitates the welding sealing of the upper and lower circular diaphragms. The working principle of the spoke type weighing sensor is based on the elastic deformation of the elastomer (elastic element, sensitive beam) under external force, so that the resistance strain gauge (conversion element) pasted on the surface also deforms. After the resistance strain gauge deforms, its resistance value will change (increase or decrease), and then the corresponding measurement circuit converts this resistance change into an electric signal, thereby completing the process of converting external force into an electric signal.

[0049] When the forklift performs the container loading operation, as the fork frame of the forklift lifts the container, the weighing sensor 116 installed on the fork frame of the forklift senses the gravity from nothing to something, generates a rising edge signal and sends it to the host 111. When the forklift performs the container unloading operation, the weighing sensor 116 can accurately capture the complete release of the container from the fork frame of the forklift, generate a falling edge signal and send it to the host 111.

[0050] Figure 4 is a schematic diagram of the load signal of the embodiment of the utility model. As Figure 4As shown, between 0-t0, the weighing sensor 116 can only detect the weight of the fork itself W1. At t0, the forklift lifts the container with the fork, the weighing sensor 116 detects the weight from W1 to W2, and generates a rising edge signal. Between t0-t1, the forklift transports the lifted container to another storage location, and the weighing sensor 116 continuously detects the total weight of the fork and the container W2. At t1, the forklift lowers the container with the fork, the weighing sensor 116 detects the weight from W2 to W1, and generates a falling edge signal. After t1, until the forklift forks the container again, the weighing sensor 116 can only detect the weight of the fork itself W1.

[0051] It should be noted that the utility model embodiment omits the transition stage of weight change at t0 and t1, and directly represents the mutation of weight with a vertical line segment, thereby forming a vertical rising edge and falling edge signal.

[0052] Further, the host is configured to drive the box number camera to acquire image information of the container when the load signal is a rising edge signal. Specifically, the host 111 receives the rising edge signal, sends a first control instruction to the box number camera 113 to drive the box number camera to acquire image information of the container.

[0053] The box number camera is configured to acquire image information of the container. Specifically, after receiving the first control instruction sent by the host, the box number camera automatically adjusts to the best shooting angle and focal length, and clearly captures and recognizes the box number information on the surface of the container in a very short time by using image processing technology. Subsequently, the box number camera 113 transmits the image information including the box number of the container to the host 111 in real time and accurately in a wireless or wired manner through a built-in or externally connected communication module.

[0054] Figure 5 The utility model embodiment is a schematic diagram of the box number camera. The host 111 acquires image information of the container through the box number camera 113, and the camera part 113a of the box number camera 113 is installed on the vertical rod 113b, which is fixed beside the cab of the forklift, to ensure that the camera part 113a can capture the box number information of the container at the best viewing angle. The camera part 113a adopts a high-resolution camera to ensure that the captured image of the container box number is clear. An infrared light supplementing device is installed around the camera part 113a to provide sufficient illumination under various light conditions and ensure image quality. The infrared light supplementing device should be able to automatically adjust the brightness according to the ambient light to avoid overexposure or underexposure. The box number camera 113 can be implemented by an industrial camera or a high-definition camera with high resolution, infrared light supplementing device, adaptability and stability.

[0055] The host 111 is responsible for receiving image information transmitted by the box number camera 113, and is built-in or connected with an OCR (Optical Character Recognition) module for processing images and identifying box numbers. Specifically, the OCR module of the host 111 first identifies the character region in the image, extracts characters from the input image using a convolutional neural network or a recurrent neural network, and performs fine identification of the characters, including numbers, letters and special symbols, to obtain the box number of the container. The optical character recognition technology is a technology for converting text in an image into editable text. In box number identification, OCR is responsible for identifying numbers, letters and special symbols in the box number image. The deep learning is a branch of machine learning, which simulates the learning process of human brain by building multi-layer neural networks. In box number identification, deep learning algorithms are used to train models to improve the accuracy and robustness of identification.

[0056] In some embodiments, if the box number information is identified completely and accurately, the host 111 will immediately issue a control instruction to instruct the box number camera 113 to stop further shooting. This step not only saves valuable resources, but also greatly improves the efficiency of the entire processing flow. However, if there is any problem with the identified box number information, such as blur, missing or unable to match with the preset data, the host 111 issues an adjustment instruction to instruct the box number camera 113 to make a slight angle adjustment and try to shoot and identify again. This process will continue until clear, effective and matchable box number information is obtained. This intelligent adjustment and retry mechanism ensures that the box number information of the container can be accurately obtained even in complex and variable environments.

[0057] The host is also configured to drive the first antenna 114 and the second antenna 115 to obtain the position information and direction of the forklift when the load signal is a falling edge signal. Specifically, the host 111 receives the falling edge signal and sends a second control instruction to the first antenna 114 and the second antenna 115 to drive the first antenna 114 and the second antenna 115 to obtain the position information and direction of the forklift.

[0058] Among them, the first antenna 114 is installed at the top central position of the cab of the forklift and is configured to obtain first positioning information. The second antenna 115 is installed at the rear side of the cab of the forklift and is configured to obtain second positioning information. At the same time, the first antenna 114 and the second antenna 115 are in communication connection with the host, and the first positioning information and the second positioning information are sent to the host 111 in a wired or wireless manner.

[0059] Figure 6is a schematic diagram of the positioning antenna installation position of the embodiment of the utility model. As Figure 6 As described above, the first antenna 114 and the second antenna 115 are positioning antennas, the first antenna 114 is installed at the central position on the top of the cab of the forklift truck, and this layout ensures that it can receive direct and clear positioning signals from the satellite, i.e., the first positioning information, with the least interference. Such a layout not only helps to reduce the shielding of the ground or other objects, but also maximizes the use of satellite signals, improving the accuracy and stability of positioning. The second antenna 115 is installed at the rear side of the cab of the forklift truck, forming a certain spatial interval with the first antenna 114. Such a layout enables the second antenna 115 to receive positioning signals slightly different from the first antenna, i.e., the second positioning information. This difference provides a data basis for subsequent differential positioning.

[0060] When the host computer 111 uses the dual-antenna system (i.e., the first antenna 114 and the second antenna 115) for forklift positioning, it can ensure the accuracy and stability of the positioning results through the method of time difference or phase difference.

[0061] The positioning antenna can have various types, including common GPS positioning antennas, Beidou positioning antennas, etc. These antennas are usually classified according to the satellite navigation systems they support. In terms of structure, the positioning antenna can adopt the form of an omnidirectional antenna or a directional antenna. The omnidirectional antenna can receive signals from all directions, while the directional antenna mainly receives signals from a specific direction. At the same time, the working principle of the positioning antenna is mainly based on the reception and conversion of electromagnetic waves. The antenna receives signals from the satellite, which are sent by the satellite at a fixed frequency and code. After receiving the signals, the antenna converts them into electrical signals and processes them through subsequent circuits, thereby calculating the distance between the receiver and the satellite and determining the position of the receiver. The forklift truck can determine the position information of the forklift truck according to the first positioning information obtained by the first antenna 114, the second positioning information obtained by the second antenna 115, or the first positioning information and the second positioning information obtained by the first antenna 114 and the second antenna 115.

[0062] Among them, determining the position information of the forklift truck according to the first positioning information and the second positioning information is comparing the first positioning information and the second positioning information obtained by the first antenna 114 and the second antenna 115 to obtain the positional difference between them. This positional difference reflects the relative positional relationship between the two antennas. Using the differential positioning algorithm, the errors in the first positioning information and the second positioning information are corrected according to the difference between the first positioning information and the second positioning information. After correction, a more accurate position information can be obtained, which can be regarded as the position information of the forklift truck.

[0063] The first antenna 114 and the second antenna 115 are respectively arranged at the top central position of the cab of the forklift and the rear side of the cab of the forklift, and the coordinate difference of the first antenna 114 and the second antenna 115 in longitude and latitude is calculated. The longitude difference and the latitude difference constitute a two-dimensional direction vector. Using the two-dimensional direction vector, the direction angle from the second antenna 115 to the first antenna 114 or from the first antenna 114 to the second antenna 115 can be calculated. The direction angle represents the driving direction of the forklift on the horizontal plane.

[0064] At the same time, in the dual-antenna system, the possible multi-path effect of the two antennas will also be different due to the different signal paths received by the two antennas. The multi-path effect refers to the change of signal strength, phase and time delay caused by the satellite signal reaching the antenna through ground reflection, building refraction and other paths in addition to the direct path to the receiving antenna during transmission. Therefore, the host 111 can identify the signal changes caused by the multi-path effect by comparing the signals of the two antennas, and suppress or correct them through algorithms. Therefore, using the time difference and phase difference information, the host 111 can further reduce the positioning error caused by the multi-path effect.

[0065] In addition, the host 111 can also fuse the positioning results of the two antennas to form a more accurate and reliable comprehensive positioning result. The data fusion algorithm can make full use of the information provided by the two antennas to improve the accuracy and robustness of positioning.

[0066] Therefore, compared with using only a single antenna, the dual-antenna system used in the embodiment has significant advantages. Since the two antennas receive signals through different paths, they are affected by different multi-path effects. By comparing the signals of the two antennas, the host 111 can identify and suppress the errors caused by the multi-path effect, thereby improving the positioning accuracy.

[0067] Further, the host 111 is also configured to drive the first distance measuring sensor 117 to measure the first distance of the container relative to the vertical frame of the forklift and the second distance measuring sensor 118 to measure the second distance of the container relative to the ground when the load signal is a falling edge. Specifically, the host 111 receives the falling edge signal and sends a third control instruction to the first distance measuring sensor 117 and the second distance measuring sensor 118 to drive the first distance measuring sensor 117 and the second distance measuring sensor 118 to obtain the first distance and the second distance.

[0068] The first distance sensor 117 and the second distance sensor 118 are configured to obtain the first distance and the second distance.

[0069] Figure 7 is a schematic diagram of the distance sensor installation position of the embodiment of the utility model. As shown in the figure, Figure 7 The first distance sensor 117 and the second distance sensor 118 can be laser distance sensors. The first distance sensor 117 is installed on the vertical frame of the forklift, ensuring that the distance between the container and the vertical frame of the forklift can be measured vertically. The first distance sensor 117 is configured to measure the first distance between the side of the container and the vertical frame of the forklift, providing information on the vertical position of the container. The second distance sensor 118 is installed on the fork frame of the forklift, ensuring that the distance between the bottom of the container and the ground can be measured. The second distance sensor 118 is configured to measure the second distance between the bottom of the container and the ground, providing information on the height or ground clearance of the container. Specifically, the first distance sensor 117 emits a laser beam or ultrasonic signal to the front of the container and receives the signal reflected back from the front of the container. According to the time difference or phase difference between signal emission and reception, the distance between the container and the vertical frame of the forklift is calculated. Similarly, the second distance sensor 118 emits a laser beam or ultrasonic signal to the ground or the top of the container below, receives the reflected signal, and calculates the distance between the bottom of the container and the ground. The host computer 111 can obtain the first position information of the container relative to the forklift through the first distance sensor 117 and the second distance sensor 118.

[0070] The first distance sensor 117 and the second distance sensor 118 mainly consist of a laser emitter, an optical system, a photodetector, a signal processing circuit, a microprocessor, etc. The photodetector is one of the key components of the laser distance sensor, responsible for receiving the reflected laser pulse and converting it into an electrical signal. Common photodetectors include photodiodes, phototriodes, avalanche diodes, etc. The microprocessor is the control center of the laser distance sensor, responsible for processing the signals output by the signal processing circuit, calculating the distance between the sensor and the measured object, and outputting the measurement results. At the same time, the basic principle of the laser distance sensor is to use the straight-line propagation characteristics and constant speed of light. The sensor emits a laser pulse, which is reflected when it encounters the surface of the measured object. The reflected laser pulse is received by the sensor. According to the principle of constant speed of light, the sensor can calculate the distance between the sensor and the measured object by measuring the time difference between the emission and reception of the laser pulse.

[0071] Figure 8 is a working schematic diagram of the distance sensor of an embodiment of the present application. Figure 8 As shown, the forklift first unloads the container A1 to the designated storage area, and then plans to stack the container A2 on A1. Among them, the height of the container A1 and the container A2 is H1.

[0072] When the forklift successfully unloads the container A1 and the distance measured by the second distance sensor 118 is close to 0, it is determined that A1 is stored in the first layer. If the forklift then unloads A2, and the distance measured by the second distance sensor 118 is close to H1, then A2 is determined to be stored in the second layer. In this way, if the measured distance is neither close to 0 nor close to an integer multiple of H1, then the storage layer number of the container is the integer multiple minus 1.

[0073] Figure 9 is a working schematic diagram of the distance sensor of another embodiment of the present application. As shown, Figure 9 The forklift first places the container A3 in the storage location, and then plans to place the container A4 in front of A1. Among them, the width of the container A3 and the container A4 is D1. The position information of the storage location is (P1, Q1), the position information of the forklift when storing the container A3 is (X1, Y1), the position information of the forklift when storing the container A4 is (X2, Y2), the first distance between the forklift and the container A3 detected by the first distance sensor 117 of the forklift is d1, and the first distance between the forklift and the container A4 detected by the first distance sensor 117 of the forklift is d2.

[0074] When the forklift unloads the container A3 from the fork, and the first distance sensor 117 detects that the value of the first distance is d1, the host 111 determines that the storage layer number of the container A3 is the first layer according to the position information (P1, Q1) of the storage location, the position information (X1, Y1) of the forklift and the first distance d1. When the forklift unloads the container A4 from the fork, and the first distance sensor 117 detects that the value of the first distance is d2, the host 111 determines that the storage layer number of the container A3 is the second layer according to the position information (P1, Q1) of the storage location, the position information (X2, Y2) of the forklift, the width D1 of the container A3 and the first distance d2. Similarly, the layer number of the container stored after the container A4 can be obtained.

[0075] Figure 10 is a working schematic diagram of the container identification and positioning device for the forklift of an embodiment of the present application. As shown, Figure 10When the forklift is started and ready to carry out the container loading and unloading operation, the forklift operator operates the fork of the forklift to lift the container. The weighing sensor 116 senses the weight from nothing to something, generates a rising edge signal, and sends it to the host 111. After the host 111 receives the rising edge signal, it sends a control instruction to the box number camera 113. The box number camera 113 automatically adjusts to the optimal shooting angle and focal length, captures and identifies the box number information on the surface of the container. The box number camera 113 transmits the identified box number information to the host 111 in real time and accurately in a wireless or wired manner. After the host 111 receives the box number information, it strictly checks and judges the box number information. If the identified box number information is complete and valid, the host will immediately issue an instruction to terminate the continuous shooting of the camera to save resources and improve processing efficiency. However, if the identified box number information is blurred, missing or cannot be matched, the host will automatically instruct the box number camera to make a small angle adjustment and try to shoot and identify again until valid box number information is obtained. At the same time, the host 111 sends the box number to the upper computer for further operation. When the forklift operator drives the forklift to the designated container storage location, the forklift operator operates the fork of the forklift to release the container. The weighing sensor 116 senses the weight from something to nothing, generates a falling edge signal, and sends it to the host 111. After the host 111 receives the falling edge signal, it sends a control instruction to the first antenna 114, the second antenna 115, the first distance measuring sensor 117 and the second distance measuring sensor 118. The first antenna 114 and the second antenna 115 start receiving satellite signals to position the forklift. The first distance measuring sensor 117 and the second distance measuring sensor 118 measure the first position information of the container relative to the forklift (including the first distance d and the second distance h). The host 111 calculates the time difference and phase difference through the satellite signals received by the first antenna 114 and the second antenna 115. Using the time difference and phase difference information, combined with satellite orbit data and earth shape model, the host 111 calculates the accurate position of the forklift relative to the satellite. The host 111 can also fuse the positioning results of the two antennas to further improve the positioning accuracy. The host 111 correlates the calculated second position information of the forklift, the first position information measured by the first distance measuring sensor 117 and the second distance measuring sensor 118, and the previously stored box number information. The host 111 efficiently and stably uploads the correlated information to the upper computer for further storage and processing through the communication module.

[0076] The embodiment of the utility model discloses through the integration positioning antenna, box number camera and host, and combining weighing sensor and double distance measuring sensor trigger box number camera shooting, obtain the position information of forklift and the image information of container, and according to the image information determine the box number of container, and according to distance measuring sensor data determine container position. Therefore, can realize the box number identification and positioning in the forklift transportation process, reduce manual operation, improve transportation efficiency.

[0077] The above descriptions are only the preferred embodiments of the present application, not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A container identification and positioning device for forklifts, characterized in that, The device includes: The positioning antenna is configured to acquire the forklift's location information; The container number camera is configured to acquire image information of the container. The host computer is communicatively connected to the container number camera and is configured to determine the container number based on the image information.

2. The apparatus according to claim 1, characterized in that, The device further includes: A load cell, mounted on the forklift and communicatively connected to the host computer, is configured to acquire the load signal of the forklift's forks and send the load signal to the host computer.

3. The apparatus according to claim 2, characterized in that, The host is configured to drive the container number camera to acquire image information of the container when the load signal is a rising edge signal.

4. The apparatus according to claim 2, characterized in that, The host is configured to drive the positioning antenna to acquire the position information of the forklift when the load signal is a falling edge signal.

5. The apparatus according to claim 1, characterized in that, The device further includes: A first ranging sensor, mounted on the vertical frame of the forklift, is configured to measure a first distance of the container relative to the vertical frame of the forklift; A second distance sensor, mounted on the forklift forks, is configured to measure a second distance of the container relative to the ground.

6. The apparatus according to claim 5, characterized in that, The host is configured to obtain first position information of the container relative to the forklift based on the first distance and the second distance.

7. The apparatus according to claim 6, characterized in that, The positioning antenna includes: The first antenna is installed at the top center of the forklift's cab and is configured to acquire first positioning information; The second antenna, installed on the rear side of the forklift's cab, is configured to acquire second positioning information.

8. The apparatus according to claim 7, characterized in that, The host is configured to determine the second position information and direction of the forklift based on the first positioning information and the second positioning information.

9. The apparatus according to claim 8, characterized in that, The host is also configured to determine the storage location information and the number of layers of the container based on the first location information and the second location information.

10. The apparatus according to claim 1, characterized in that, The host computer is also configured to send the location information of the forklift and the container number to the host computer.

Images