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Method for finding holes visually and forklift

A vision and forklift technology, applied in the field of visual hole finding, methods and forklifts, can solve the problem that the fork tines cannot enter the fork holes accurately, and achieve the effects of strong anti-interference ability, large amount of information, and accurate positioning and measurement

Inactive Publication Date: 2019-08-16
国以贤智能科技(上海)股份有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention solves the problem in the prior art that the fork teeth cannot accurately enter the fork hole, and provides a method for visually finding holes and a forklift

Method used

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  • Method for finding holes visually and forklift

Examples

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Embodiment Construction

[0018] The present invention is described in detail below in conjunction with accompanying drawing:

[0019] Such as figure 1 As shown, the present invention provides a method for visually finding holes, including:

[0020] S10. Provide a pallet, the pallet has jacks, the jacks can usually be two symmetrically arranged cavities, the pallet is used to carry goods, and the pallet serves as a loading platform;

[0021] S20. An image sensor is set on the forklift, and the forklift moves toward the pallet, that is, moves to the side of the pallet in the direction of the goods;

[0022] S30. When the image sensor captures the image of the pallet, the fork of the forklift performs an approaching action according to the position of the jack in the captured image, and the fork works in cooperation with the jack. The tines go deep into the socket for subsequent lifts.

[0023] The invention finds the position of the socket of the pallet through the image sensor, and tracks the positi...

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Abstract

The invention discloses a method for finding holes visually. The method includes the steps that a supporting plate is provided, an insertion hole is formed in the supporting plate, and the supportingplate is used for carrying goods; an image sensor is arranged on a forklift, and the forklift moves towards the supporting plate; and when the image sensor collects images of the supporting plate, forklift teeth of the forklift approach according to the position, the insertion hole located in the collected images. According to the method for finding holes visually, by collecting the images of thesupporting plate through the image sensor arranged on the forklift, the forklift teeth of the forklift can approach according to the position of the insertion hole position located in the collected images, positioning measurement is accurate, and deviation between the hole position of the insertion hole and the forklift teeth can be recognized; and due to the large amount of data information of collected videos, anti-interference ability is high, and the conditions of partial occlusion and the like are prevented from affecting positioning accuracy.

Description

technical field [0001] The invention relates to the field of engineering, in particular to a method for visually finding holes and a forklift. Background technique [0002] With the continuous development of automation technology, the existing forklifts have become intelligent, and the existing automatic delivery methods using fork tines all adopt the method of cargo jack fixing height (that is, the method of shelf + pallet), and adopt this method A large number of shelves need to be used. When some goods are not suitable for using shelves, automatic search for jack positions cannot be realized. Another simple way to find the jack is to use laser or TOF to locate the jack according to the depth information of the jack position, but this method will be interfered by wrapping film or spider webs in the jack, and false alarms often occur . When the supporting board is placed irregularly, it is easy to insert the deviation and push the supporting board to move, which has a gre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66F9/075G01B11/00
CPCB66F9/0755G01B11/00
Inventor 安汝霖余涛
Owner 国以贤智能科技(上海)股份有限公司
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