CN109081272A - It is a kind of to mix the unmanned transhipment fork truck guided and method with vision based on laser - Google Patents
It is a kind of to mix the unmanned transhipment fork truck guided and method with vision based on laser Download PDFInfo
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- CN109081272A CN109081272A CN201811238232.5A CN201811238232A CN109081272A CN 109081272 A CN109081272 A CN 109081272A CN 201811238232 A CN201811238232 A CN 201811238232A CN 109081272 A CN109081272 A CN 109081272A
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000007599 discharging Methods 0.000 claims abstract description 10
- 239000000463 material Substances 0.000 claims description 14
- 230000002265 prevention Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 6
- 239000000203 mixture Substances 0.000 claims 1
- 239000011295 pitch Substances 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000020004 porter Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/19—Additional means for facilitating unloading
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of mixed based on laser with vision guidance unmanned transhipment fork truck and method, car body control mechanism, operating mechanism, laser including fork truck ontology and on fork truck ontology mix guidance system and driving means with vision；Laser mixes the environmental information that guidance system acquires surrounding in real time with vision, and its image information is transferred to car body control mechanism, image information is converted to specific posture information by vision algorithm by car body control mechanism, and pass it to car body control unit, car body control mechanism controls fork truck ontology in turn and is moved, the lifting of manipulation driving means, carrying and discharging.The fork truck precision is high, functional integration is high, high safety and reliability.
Description
Technical field
The invention belongs to equipment technology field of transport, are related to a kind of fork truck, and in particular to one kind is mixed based on laser and vision
Close the unmanned transhipment fork truck and method of guidance.
Background technique
Fork truck is widely used in the Transfer centers such as warehouse, factory floor, harbour and dispatching as a kind of transport carrying vehicle
Center, and can carry out handling, the transport operation of pallet cargo is palletized transport, essential equipment in Container Transport.It passes
Fork truck of uniting uses pilot steering, and one large-scale workshop needs more fork trucks while operating that a large amount of manpower, material resources and financial resources will be expended.
With the development of science and technology and the continuous improvement of the degree of automation, pilot steering fork truck develop to unmanned fork truck direction
As inexorable trend, the integrated level of forklift function is also stepped up.Unmanned fork lift mainly uses las er-guidance mode at present, still
The precision and security reliability of laser guiding are subject to certain restrictions, and fork truck itself is without driving means, functional integration compared with
It is low.Therefore, develop that a kind of high-precision, functional integration be higher, there is important engineering to answer for unmanned fork lift of high safety and reliability
With value.
Summary of the invention
To solve drawbacks described above existing in the prior art, it is an object of the invention to provide one kind to have driving means, laser
The unmanned transhipment fork truck of guidance system is mixed with vision.
The present invention is realized by following technical proposals.
A kind of unmanned transhipment fork truck mixing guidance with vision based on laser, including fork truck ontology, and it is set to fork truck ontology
On car body control mechanism, operating mechanism, laser with vision mix guidance system and driving means；
The car body control mechanism, including electric controller, for laser to be mixed to the work of guidance system acquisition with vision
The accurately identifying of environment material, location information, electric controller control driving means carry and discharging；
The operating mechanism accurately adjusts position and attitude, behaviour to fork truck ontology for receiving the instruction of car body control mechanism
Vertical driving means lifting, carrying and discharging；
The laser mixes guidance system with vision, is identified, is adopted respectively by las er-guidance system and robot vision leading system
Collect the accurate location information of working environment material, and is transmitted to car body control mechanism；
The driving means controls operating mechanism control stick to material lifting, carrying and discharging by car body control mechanism.
Preferably, the operating mechanism includes the fork truck shell for being located at head, and fork truck housing forward end sets collision prevention girders and avoidance
Head bracket is equipped with range sensor on avoidance head bracket.
Preferably, the car body control mechanism includes electric controller, is equipped with control panel on electric controller, power supply is opened
Pass, button warning lamp, three color warning lamps and emergency stop switch.
Preferably, the fork truck ontology further includes driving means bindiny mechanism, and driving means bindiny mechanism includes vertical solid
It is scheduled on the double track connecting rod of car body rear body, the sprocket wheel and chain of connection driving means are fixed on double track connecting rod, further includes one
A sliding rail that driving means is moved up and down.
Preferably, the driving means includes the lifter plate being connected with sliding rail, and lifting postlaminar part is connected with guide rail and multi-fork
Tooth pallet fork, telescoping mechanism are moved up by the push plate that sliding block moves up and down linkage the rear part in the sliding slot of guide rail in multi-fork tooth pallet fork
It is dynamic.
Preferably, the telescoping mechanism includes the double link being hinged, and one end is hinged on guide rail on the left of double link, separately
One end is hinged with sliding block；One end is hinged in push plate on the right side of telescoping mechanism double link, and the other end is hinged on by removable geosynclinal block
In push plate.
Preferably, two sets of telescoping mechanisms are installed in parallel between guide rail and push plate, and push plate is real under the action of telescoping mechanism
It is moved left and right in present effective travel.
Preferably, it includes the laser head standpipe being located above electric controller that the laser, which mixes guidance system with vision, is swashed
Bare headed standpipe is equipped with laser radar by laser mounting plate, further include be located at it is corresponding with laser radar around fork truck ontology
Reflector；
The robot vision leading system includes the binocular camera for being located at electric controller top, laser head standpipe rear portion.
The present invention gives a kind of Path Recognition side of unmanned transhipment fork truck for mixing guidance with vision based on laser in turn
Method includes the following steps:
1) laser radar obtains the distance signal of fork truck ontology and reflector by scanning reflector, and electric controller combines
The three-dimensional map parameter constructed in advance resolves the position of fork truck ontology, obtains the current map of fork truck ontology and positioning number
According to；
2) robot vision leading system carries out Image Acquisition to ambient enviroment by the binocular camera above unmanned fork lift, and right
Image carries out matching and measurement is drawn in friendship, obtains the three-dimensional point cloud of scene；
3) electric controller acquires the ground that scene three-dimensional point cloud, the laser radar that image obtains obtain according to binocular vision component
Figure and location data are modified；
4) electric controller resolves revised map and location data, obtains position and the posture letter of fork truck ontology
Breath, and then driving and speed driving are turned to by control unmanned fork lift rotation shaft of wheel, and control the walking of fork truck ontology, avoidance and goods
Object transport.
Preferably, in the step 3), electric controller acquires the scene three-dimensional point that image obtains according to binocular vision component
The map and location data that cloud, laser radar obtain, which are modified, carries out a dead reckoning for the every advance 50mm of, fork truck ontology,
It is every that the position of fork truck ontology is modified after 10 dead reckonings, and acquire what image obtained according to binocular vision component
Scene three-dimensional point cloud carries out the update of characteristics map.
The present invention has the advantages that due to taking above technical scheme
1, the present invention is integrated into unmanned fork truck ontology by the way that driving means, laser are mixed guidance system with vision
On, material accurately identify/position, lift, carry and material unloading function is integrated on unmanned fork lift, it is multi-functional synergistic effect more
Add the actual working environment for meeting fork truck, realize to the full extent unattended, improves production efficiency.
2, the present invention combined by las er-guidance system and robot vision leading system, compared to individually a kind of guided mode,
Mixing guided mode guiding accuracy, which is improved, (can intelligently adapt to a variety of default type material recognitions, accurate positioning, according to object
Discharge position fork truck adaptively accurately adjusts position and attitude), security reliability and the accuracy transported goods all are correspondingly improved,
It can effectively prevent transported cargo damage.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, not
Inappropriate limitation of the present invention is constituted, in the accompanying drawings:
Fig. 1 is fork truck body construction schematic diagram of the present invention；
Fig. 2 is the unmanned fork truck entirety axis side structure schematic diagram of the present invention；
Fig. 3 integrally faces for the unmanned fork truck of the present invention shows that structure is intended to；
Fig. 4 is driving means structural schematic diagram；
Fig. 5 is that laser mixes guiding flow chart with vision；
Fig. 6 is that fork truck adaptively accurately adjusts posture flow chart.
In figure: 1, collision prevention girders；2, avoidance head bracket；3, fork truck shell；4, power switch；5, button warning lamp；6, it controls
Panel；7, electric controller；8, three color warning lamp；9, emergency stop switch；10, sliding rail；11, chain；12, sprocket wheel；13, wheel；14, it stretches
Contracting mechanism；15, lifter plate；16, guide rail；17, sliding block；18, push plate；19, multi-fork tooth pallet fork；20, laser radar；21, laser is pacified
Loading board；22, laser head standpipe；23, industrial camera shell；24, binocular camera.
Specific embodiment
Below in conjunction with attached drawing and specific embodiment, the present invention will be described in detail, herein illustrative examples of the invention
And explanation is used to explain the present invention, but not as a limitation of the invention.
As shown in Figure 1 and Figure 2, a kind of unmanned transhipment fork truck mixing guidance with vision based on laser of the invention includes: fork
Vehicle ontology and car body control mechanism, operating mechanism, laser on fork truck ontology mix guidance system and push dress with vision
It sets.
Car body control mechanism, including electric controller, for laser to be mixed to the working environment of guidance system acquisition with vision
The accurately identifying of material, location information, electric controller control driving means carry and discharging；Operating mechanism, for receiving
The instruction of car body control mechanism accurately adjusts position and attitude, the lifting of manipulation driving means, carrying and discharging to fork truck ontology；Swash
Light mixes guidance system with vision, is identified respectively by las er-guidance system and robot vision leading system, collecting work environment material
Accurate location information, and be transmitted to car body control mechanism；Driving means controls operating mechanism manipulation by car body control mechanism
Bar is to material lifting, carrying and discharging.
Wherein, unmanned fork truck ontology operating mechanism includes the fork truck shell 3 that fork truck body head is equipped with, fork truck shell
3 front ends set collision prevention girders 1 and avoidance head bracket 2.Wherein collision prevention girders 1 and four wheels 13 are separately mounted to the front end of fork truck shell 3
The bottom and.Collision prevention girders 1 use rubber material, inside radar installations is installed, can effectively avoid fork truck and surrounding objects and bump against.
Avoidance head bracket 2 is mounted on behind collision prevention girders 1, is equipped with range sensor on avoidance head bracket 2, carries out dual guarantor to avoidance
Shield.Control panel 6 and three color warning lamps 8 are separately mounted to the two sides of electric controller 7 front casing and upper surface, 4 He of power switch
Three button warning lamps 5 are located at 6 lower section of control panel, and control panel 6 and electric controller 7 are used to control and execute unmanned fork lift
Relevant porter movement；Power switch 4 is used to control the starting and closing of unmanned fork lift, three colors when operation exception or unit exception
Warning lamp 8 can sound an alarm.Emergency stop switch 9 is mounted on the right side of 7 shell of electric controller, and emergency stop switch 9 can be closed in case of emergency
It closes fork truck and cuts off the power.
Fork truck ontology further includes driving means bindiny mechanism, and driving means bindiny mechanism includes being vertically fixed on car body ontology
The double track connecting rod at rear portion is fixed with the sprocket wheel 12 and chain 11 of connection driving means on double track connecting rod, further includes one and to push away
The sliding rail 10 for sending device to move up and down.Sliding rail 10 is welded on the two sides of fork truck, and chain 11 and sprocket wheel 12 are located at the right side of fork truck, sliding
Rail 10 is connected with driving means.In the case where chain 11 and the cooperation transmission of sprocket wheel 12, make driving means between upper and lower limits
It is moved up and down along sliding rail 10.
As shown in connection with fig. 4 such as Fig. 3, driving means specifically include that telescoping mechanism 14, lifter plate 15, guide rail 16, sliding block 17,
Push plate 18 and multi-fork tooth pallet fork 19；Wherein lifter plate 15 is slidably connected on sliding rail 10, and 15 rear portion of lifter plate is connected with guide rail 16
With multi-fork tooth pallet fork 19, guide rail 16 and multi-fork tooth pallet fork 19 are welded on lifter plate 15, and guide rail 16 is provided with sliding slot, and sliding block 17 is being led
It is moved up and down in the sliding slot of rail 16.Telescoping mechanism 14 moves up and down linkage the rear part by sliding block 17 in the sliding slot of guide rail 16
Push plate 18 is moved on multi-fork tooth pallet fork 19.Telescoping mechanism 14 includes the double link being hinged, and one end is hinged on the left of double link
On track 16, the other end and sliding block 17 are hinged；One end is hinged in push plate 18 on the right side of 14 double link of telescoping mechanism, and the other end is logical
Removable geosynclinal block is crossed to be hinged in push plate 18.Two sets of telescoping mechanisms 14 are installed in parallel, and push plate 18 is under the action of telescoping mechanism 14
It may be implemented in effective travel and move left and right.
As shown in connection with fig. 3 such as Fig. 1, laser mixed with vision guidance system include: laser radar 20, laser mounting plate 21,
Laser head standpipe 22, industrial camera shell 23, binocular camera 24, wherein laser radar 20 is bolted on laser installation
21 top of plate, further includes being located at reflector corresponding with laser radar around fork truck ontology.22 both ends of laser head standpipe pass through
It is bolted and is fixed between electric controller 7 and laser mounting plate 21, laser radar 20, laser mounting plate 21 and laser head standpipe
22 and unmanned fork lift around reflector collectively constitute las er-guidance system, unmanned fork lift is connect by measurement laser from being issued to
The time of receipts calculates itself and determines the three-dimensional coordinate of unmanned fork lift itself by the measurement of multi-point to the distance of reflector,
Realize the judgement to self-position.Binocular camera 24 is fixedly mounted on inside industrial camera shell 23, industrial camera shell 23
It is fixedly mounted on electric controller 7, industrial camera shell 23, binocular camera 24 and electric controller 7 collectively constitute visual guidance
System, robot vision leading system carry out Image Acquisition to ambient enviroment by the binocular camera 24 above unmanned fork lift, and to figure
As carrying out matching and intersection measurement, the three-dimensional point cloud of scene is obtained.
As shown in figure 5, the path identification method of the unmanned operating fork truck of guidance is mixed with vision based on laser, including as follows
Step:
1) laser radar obtains the distance signal of fork truck ontology and reflector by scanning reflector, and electric controller combines
The three-dimensional map parameter constructed in advance resolves the position of fork truck ontology, obtains the current map of fork truck ontology and positioning number
According to.
2) robot vision leading system carries out Image Acquisition to ambient enviroment by the binocular camera above unmanned fork lift, and right
Image matched, intersection measurement, obtains the three-dimensional point cloud of scene.
3) las er-guidance is combined with robot vision leading system, electric controller acquires image according to binocular vision component and obtains
Scene three-dimensional point cloud map that laser radar is obtained and location data be modified, the every advance 50mm of fork truck ontology carries out one
Secondary dead reckoning, it is every that the position of fork truck ontology is modified after 10 dead reckonings, and adopted according to binocular vision component
Collect the scene three-dimensional point cloud that image obtains, carries out the update of characteristics map.Mixing guidance technology can be improved positioning accuracy and
Real-time, while avoiding the blind area of laser radar detection.
4) electric controller resolves revised map and location data, obtains position and the posture letter of fork truck ontology
Breath, and then driving and speed driving are turned to by control unmanned fork lift rotation shaft of wheel, and control the walking of fork truck ontology, avoidance and goods
Object transport.
As shown in fig. 6, being identified and positioned by binocular vision component to pallet target, electric controller calculates fork truck
Ontology calculates the control amount of fork truck ontology and is sent to fork truck controller at a distance from pallet and location information, passes through vehicle
Body controller adjusts fork truck ontology posture, and guidance fork truck ontology inserts picking object.
The present invention is not limited to the above embodiments, on the basis of technical solution disclosed by the invention, the skill of this field
For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing creative labor
A little replacements and deformation, these replacements and deformation are within the scope of the invention.
Claims (10)
1. a kind of unmanned transhipment fork truck for mixing guidance with vision based on laser, which is characterized in that including fork truck ontology, and be set to
Car body control mechanism, operating mechanism, laser on fork truck ontology mix guidance system and driving means with vision；
The car body control mechanism, including electric controller, for laser to be mixed to the working environment of guidance system acquisition with vision
The accurately identifying of material, location information, electric controller control driving means carry and discharging；
The operating mechanism accurately adjusts position and attitude to fork truck ontology, manipulation pushes away for receiving the instruction of car body control mechanism
Send device lifting, carrying and discharging；
The laser mixes guidance system with vision, is identified respectively by las er-guidance system and robot vision leading system, acquires work
Make the accurate location information of environment material, and is transmitted to car body control mechanism；
The driving means controls operating mechanism control stick to material lifting, carrying and discharging by car body control mechanism.
2. the unmanned transhipment fork truck according to claim 1 for mixing guidance with vision based on laser, which is characterized in that described
Operating mechanism includes the fork truck shell (3) for being located at head, and fork truck shell (3) front end sets collision prevention girders (1) and avoidance head bracket (2),
Avoidance head bracket is equipped with range sensor on (2).
3. the unmanned transhipment fork truck according to claim 1 for mixing guidance with vision based on laser, which is characterized in that described
Car body control mechanism includes electric controller (7), and control panel (6), power switch (4), button police are equipped on electric controller (7)
Show lamp (5), three color warning lamps (8) and emergency stop switch (9).
4. the unmanned transhipment fork truck according to claim 1 for mixing guidance with vision based on laser, which is characterized in that described
Fork truck ontology further includes driving means bindiny mechanism, and driving means bindiny mechanism includes pair for being vertically fixed on car body rear body
Rail connecting rod is fixed with the sprocket wheel (12) and chain (11) of connection driving means on double track connecting rod, further includes one and makes push dress
Set the sliding rail (10) moved up and down.
5. the unmanned transhipment fork truck according to claim 4 for mixing guidance with vision based on laser, which is characterized in that described
Driving means includes the lifter plate (15) being connected with sliding rail (10), and lifter plate (15) rear portion is connected with guide rail (16) and multi-fork tooth goods
It pitches (19), telescoping mechanism (14) moves up and down the push plate (18) of linkage the rear part by sliding block (17) in the sliding slot of guide rail (16)
It is moved on multi-fork tooth pallet fork (19).
6. the unmanned transhipment fork truck according to claim 5 for mixing guidance with vision based on laser, which is characterized in that described
Telescoping mechanism (14) includes the double link being hinged, and one end is hinged on guide rail (16) on the left of double link, the other end and sliding block
(17) hinged；One end is hinged on push plate (18) on the right side of telescoping mechanism (14) double link, and the other end is hinged by removable geosynclinal block
On push plate (18).
7. the unmanned transhipment fork truck according to claim 6 for mixing guidance with vision based on laser, which is characterized in that two sets
Telescoping mechanism (14) is installed in parallel between guide rail (16) and push plate (18), and push plate (18) is real under the action of telescoping mechanism (14)
It is moved left and right in present effective travel.
8. the unmanned transhipment fork truck according to claim 1 for mixing guidance with vision based on laser, which is characterized in that described
It includes the laser head standpipe (22) being located above electric controller (7), laser head standpipe (22) that laser, which mixes guidance system with vision,
Laser radar (20) are installed by laser mounting plate (21), further include be located at it is corresponding with laser radar around fork truck ontology
Reflector；
The robot vision leading system includes the binocular camera for being located at electric controller (7) top, laser head standpipe (22) rear portion
(24)。
9. a kind of path of the described in any item unmanned transhipment fork trucks for being mixed guidance with vision based on laser of claim 1-8 is known
Other method, which comprises the steps of:
1) laser radar obtains the distance signal of fork truck ontology and reflector by scanning reflector, and electric controller combines preparatory
The three-dimensional map parameter of building resolves the position of fork truck ontology, obtains fork truck ontology current map and location data；
2) robot vision leading system carries out Image Acquisition to ambient enviroment by the binocular camera above unmanned fork lift, and to image
It carries out matching and measurement is drawn in friendship, obtain the three-dimensional point cloud of scene；
3) electric controller according to binocular vision component acquire image obtain scene three-dimensional point cloud, laser radar obtain map and
Location data is modified；
4) electric controller resolves revised map and location data, obtains position and the posture information of fork truck ontology,
And then driving and speed driving are turned to by control unmanned fork lift rotation shaft of wheel, and control the walking of fork truck ontology, avoidance and cargo
Transport.
10. according to the path identification method for requiring the 9 unmanned transhipment fork trucks for mixing guidance with vision based on laser stated, feature
It is, in the step 3), electric controller acquires scene three-dimensional point cloud, the laser radar that image obtains according to binocular vision component
The map and location data of acquisition are modified as the every advance 50mm of fork truck ontology carries out a dead reckoning, every to pass through 10 times
The position of fork truck ontology is modified after dead reckoning, and the scene three-dimensional point that image obtains is acquired according to binocular vision component
Cloud carries out the update of characteristics map.
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| CN201811238232.5A CN109081272B (en) | 2018-10-23 | 2018-10-23 | Unmanned transfer forklift and method based on laser and vision mixed guidance |
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| CN201811238232.5A CN109081272B (en) | 2018-10-23 | 2018-10-23 | Unmanned transfer forklift and method based on laser and vision mixed guidance |
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| CN109573906A (en) * | 2019-01-25 | 2019-04-05 | 江苏达力叉车有限公司 | A kind of fork truck safety anticollision system |
| CN109823986A (en) * | 2019-02-14 | 2019-05-31 | 安徽宇锋智能科技有限公司 | A kind of round-the-clock unmanned laser AGV fork truck in outdoor |
| CN110028017A (en) * | 2019-04-08 | 2019-07-19 | 杭州国辰牵星科技有限公司 | A kind of passive vision navigation unmanned fork lift system and air navigation aid for explosion-proof warehouse |
| CN110118973A (en) * | 2019-05-27 | 2019-08-13 | 杭州亚美利嘉科技有限公司 | Warehouse Intellisense recognition methods, device and electronic equipment |
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| CN111807269A (en) * | 2020-07-09 | 2020-10-23 | 京良(广州)科技股份有限公司 | Forklift robot with pattern recognition device |
| WO2022257550A1 (en) * | 2021-06-08 | 2022-12-15 | 灵动科技（北京）有限公司 | Docking method for self-moving forklift, and self-moving forklift |
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Denomination of invention: An unmanned transfer forklift based on hybrid guidance of laser and vision and its method Granted publication date: 20230929 Pledgee: Shaanxi qinnong Rural Commercial Bank Co.,Ltd. Chang'an sub branch Pledgor: XI'AN ZHONGKE PHOTOELECTRIC PRECISION ENGINEERING Co.,Ltd. Registration number: Y2024980024001 |
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