Unmanned transfer forklift based on laser positioning and stereoscopic vision and navigation method

Abstract

The invention discloses an unmanned transfer forklift based on laser positioning and stereoscopic vision and a navigation method. The unmanned transfer forklift comprises multiple reflection targets and tray targets arranged in a working scene of a forklift body; the forklift body comprises a control mechanism arranged at the front part, and a multi-gear pusher arranged at the back part; a laser radar and a binocular vision module scan the reflection targets to obtain distance signals of the forklift body and the reflection targets, and the distance signals are output to an industrial personalcomputer processing module; the industrial personal computer processing module controls the forklift body to advance and avoid from obstacles; the laser radar and the binocular vision module scan thetray targets to obtain distance and position information of the forklift body and goods on trays, and the distance and position information is output to the industrial personal computer processing module; and the industrial personal computer processing module controls the multi-gear pusher of the forklift body to operate. Through laser positioning and stereoscopic vision navigation, the navigation dead angle can be precisely detected, and the navigation accuracy is improved; and the obstacles can be accurately avoided, and the goods can be accurately forked, so that the transfer, taking and placement of the goods through unmanned driving are realized.

Description

technical field [0001] The invention belongs to the technical field of forklifts, and relates to an unmanned transfer forklift system based on laser positioning and stereo vision and a navigation barrier method. Background technique [0002] With the continuous development of automation technology, in order to reduce labor costs and improve work efficiency, more and more factory workshops, warehouses and other places use automatic forklifts to carry out cargo handling, loading, unloading and other operations. At present, there are many types of automatic forklifts on the market, especially intelligent forklifts. Most of them use magnetic track navigation, RFID positioning technology and laser positioning technology to transport goods independently. The stability and accuracy of navigation performance are not high, and they cannot be detected. Poor navigation accuracy in blind spots. Under normal circumstances, automatic forklifts move goods according to a preset route, but ...

AI Technical Summary

Problems solved by technology

At present, there are many types of automatic forklifts on the market, especially intelligent forklifts. Most of them use magnetic track navigation, RFID positioning technology and laser positioning technology to transport goods independently. The stability and accuracy of navigation performance are not high, and they cannot be detected. Poor navigation accuracy in blind spots

Under normal circumstances, automatic forklifts carry goods according to the preset route, but the emergency stop is the emergency stop to deal with sudden obstacles, and there is no autonomous detour function.

For pallets with multiple teeth, the requirements for the pick-up position and posture of the forklift are relatively high, and it is easy to insert deviation and insert the goods down, and it is impossible to complete the pick-up

For soft-packed goods, in the loading process, it is still necessary to use manual separation of pallets and goods and manual recycling of pallets, which requires a lot of manpower and low efficiency.

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