CN109987550B - Calibration method and storage medium for high-position forklift and returning storage container - Google Patents
Calibration method and storage medium for high-position forklift and returning storage container Download PDFInfo
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- CN109987550B CN109987550B CN201910272981.8A CN201910272981A CN109987550B CN 109987550 B CN109987550 B CN 109987550B CN 201910272981 A CN201910272981 A CN 201910272981A CN 109987550 B CN109987550 B CN 109987550B
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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
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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
- B66F9/0755—Position control; Position detectors
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Abstract
The embodiment of the invention discloses a calibration method and a storage medium for a high-position forklift and a return storage container. The high-order fork truck includes the fork, is provided with image collector and distance sensor on the fork, and image collector is used for setting up the location sign on target inventory container through gathering, obtains the image data that can characterize the position relation between the projection image of fork and location sign projection to the appointed plane, and distance sensor is used for measuring the distance between fork and the target inventory container to obtain distance data, wherein, the method includes: after the fork lifts the storage container to be placed to the height equal to the target layer of the target storage container, regulating and controlling the position relation between the fork and the projection image of the positioning identifier on the designated plane according to the image data; and regulating and controlling the distance between the pallet fork and the target inventory container according to the distance data. Therefore, the position of the fork relative to the inventory container is adjusted, so that the storage container is accurately returned, and the return efficiency of the storage container is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of unmanned forklift equipment, in particular to a calibration method and a storage medium for a high-position forklift and a returning storage container.
Background
With the rapid development of the logistics industry in China, safe and efficient operation flows become a necessary means for improving market competitiveness of each logistics company, in many logistics warehouses, in order to save space, the height of a storage rack is usually increased, corresponding equipment for storing and taking goods is designed, and for larger or heavier goods, a high-level forklift becomes an existing flexible, efficient and rapid storing and taking tool in the logistics warehouse. And generally, after the high-position forklift is used for taking out the articles, the storage containers (such as trays) for containing the articles are returned to the corresponding storage container positions through the forklift.
At present, high-order forklifts on the market are divided into two types, namely a manually-driven forklift and an unmanned forklift, the manually-driven forklift needs to be operated and controlled by a driver, and when a storage container is returned to an appointed position of the storage container, the driver continuously adjusts the position and the angle of the fork according to the relative position of the fork and the storage container which are visually measured so as to finish the return of the storage container. However, the mode of constantly adjusting the position and the angle of the fork by the driver has complex operation and poor positioning accuracy, so that the efficiency of returning the storage container is low. For unmanned forklifts, a preset height is generally used to return the inventory containers. However, the warehouse site environment is complex, if the ground is uneven, or the ground has obstacles (such as dropped goods) and the like, the height of two wheels of the forklift is uneven, and safety accidents such as returning to the inventory container failure, even damaging the inventory container, dropping high-level goods and the like are easily caused.
Disclosure of Invention
The embodiment of the invention provides a high-position forklift, a calibration method for returning a storage container and a storage medium, wherein the position of a pallet fork relative to the storage container is automatically adjusted through the high-position unmanned forklift, so that the aim of accurately returning the storage container to the specified position of the storage container on the premise of ensuring safety is fulfilled, and the returning efficiency of the storage container is improved.
In a first aspect, an embodiment of the present invention provides a high-order forklift, including a fork, an image collector, a distance sensor, and a processing regulation and control module, where the processing regulation and control module is electrically connected to the fork, the image collector, and the distance sensor, respectively; wherein:
the pallet fork comprises a first pallet fork and a second pallet fork and is used for bearing a storage container to be placed;
the image collector is arranged on the first fork and used for acquiring image data capable of representing the position relation between the fork and a projection image projected to a specified plane by the positioning mark arranged on a target inventory container;
the distance sensor is arranged on the second fork and used for measuring the distance between the fork and the target inventory container and acquiring distance data;
the processing regulation and control module is used for regulating and controlling the position relation between the pallet fork and the projected image of the positioning identifier on the designated plane according to the image data after the pallet fork lifts the storage container to be placed to the height equal to the target layer of the target storage container; and regulating the distance between the fork and the target inventory container according to the distance data.
In a second aspect, an embodiment of the present invention provides a calibration method for returning a storage container, which is performed by a high-order forklift, where the high-order forklift includes a fork, and an image collector and a distance sensor are disposed on the fork, the image collector is configured to acquire image data that can represent a positional relationship between projection images of the fork and a target inventory container, the projection images being projected onto a designated plane by the positioning identifier, and the distance sensor is configured to measure a distance between the fork and the target inventory container and acquire distance data, where the calibration method for returning a storage container includes:
after the fork lifts the storage container to be placed to the height equal to the target layer of the target inventory container, regulating and controlling the position relation between the fork and the projected image of the positioning identifier on the designated plane according to the image data;
and regulating and controlling the distance between the fork and the target inventory container according to the distance data.
In a third aspect, an embodiment of the present invention further provides a calibration device for returning a storage container, configured on a processing and control module of a high-order forklift, where the high-order forklift includes a fork, an image collector and a distance sensor are disposed on the fork, the image collector is configured to acquire image data that can represent a positional relationship between projected images of the fork and a target inventory container, the projected images being projected onto a designated plane by the positioning identifier, and the distance sensor is configured to measure a distance between the fork and the target inventory container and acquire distance data, and the calibration device includes:
the position adjusting module is used for regulating and controlling the position relation between the pallet fork and the projected image of the positioning identifier on the designated plane according to the image data after the pallet fork lifts the storage container to be placed to the height equal to the target layer of the target storage container;
and the distance regulating and controlling module is used for regulating and controlling the distance between the fork and the target inventory container according to the distance data.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the calibration method for returning a storage container according to any of the embodiments of the present invention.
According to the calibration method and device for returning the storage container, the high-position forklift and the storage medium, after the fork lifts the storage container to the same height as the specified position of the target inventory container, the position of the fork relative to the target inventory container is automatically adjusted according to the positioning identification acquired by the image acquisition device in real time, and meanwhile, the horizontal distance required to move for returning the storage container is calculated according to the attribute of the storage container and the distance between the fork acquired by the distance sensor and the target inventory container, so that the purpose of accurately returning the storage container to the specified position of the storage container is achieved, and the returning efficiency of the storage container is improved.
Drawings
FIG. 1 is a schematic system diagram of a cargo picking system provided by the present invention;
FIG. 2 is a schematic structural diagram of an elevated inventory container provided by the present invention;
fig. 3 is a schematic structural diagram of an overhead forklift according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a high forklift according to a second embodiment of the present invention;
fig. 5a is a schematic structural diagram of a high-position forklift provided by a third embodiment of the invention;
FIG. 5b is a schematic diagram illustrating the calculation of the lowest position when the bin is tilted according to the third embodiment of the present invention;
fig. 6 is a flowchart of a calibration method for returning a storage container according to a fifth embodiment of the present invention;
fig. 7 is a flowchart of a calibration method for returning a storage container according to a sixth embodiment of the present invention;
fig. 8 is a flowchart of a calibration method for returning a storage container according to a seventh embodiment of the present invention;
fig. 9 is a flowchart of a calibration method for returning a storage container according to an eighth embodiment of the present invention;
fig. 10 is a schematic structural diagram of a calibration device for returning a storage container according to a ninth embodiment of the present invention.
Detailed Description
Referring to fig. 1, a system of a cargo picking system is shown, the cargo picking system includes: the high-order forklift 10, the control system 20, the inventory container area 30 and the sorting station 40, the inventory container area 30 is provided with a plurality of inventory containers 31, various goods are placed on the inventory containers 31, for example, as the inventory containers with various goods are placed in a supermarket, the inventory containers 31 are arranged in an inventory container array form, wherein, as shown in fig. 2, the inventory containers 31 are high-order inventory containers, and positioning marks 301 are adhered to each layer of the inventory containers.
The control system 20 is in wireless communication with the high-level forklift 10, and the high-level forklift 10 returns the storage container containing the goods to the corresponding position of the goods taking inventory container after the goods are carried to the picking station 40 under the control of the control system 20. For example, when returning the storage container, the high-order forklift 10 carries the storage container to be returned to the front of the storage container 31, lifts the fork to the height equal to the height of the designated floor, and adjusts the fork by scanning the positioning mark 301 attached to the floor, so as to complete the return of the storage container.
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 3 is a schematic structural diagram of a high-order forklift provided in an embodiment of the present invention, including a fork 1, an image collector 2, a distance sensor 3, and a processing module 4, where the processing regulation and control module 4 is electrically connected to the fork 1, the image collector 2, and the distance sensor 3, respectively; furthermore, the processing regulation and control module 4 is connected with the pallet fork 1 through a driving mechanism, and controls the pallet fork 1 to move through the driving mechanism, and the driving mechanism comprises a driving motor, a gear and other parts. It should be noted that the driving mechanism in the high-position forklift (for example, fig. 4 and 5a) in other embodiments of the present invention is identical in composition and function to the driving mechanism in this embodiment.
The pallet fork 1 comprises a first pallet fork 11 and a second pallet fork 12 for carrying a storage container to be placed;
the image collector 2 is arranged on the first fork 11, preferably arranged at the front end of the first fork 11, and is used for acquiring image data capable of representing the position relationship between the fork and a projection image projected by the positioning mark onto a specified plane by collecting the positioning mark arranged on a target inventory container;
the distance sensor 3 is arranged on the second fork 12, preferably arranged at the front end of the second fork 12, and is used for measuring the distance between the fork and the target inventory container and acquiring distance data;
the processing regulation and control module 4 is used for regulating and controlling the position relation between the pallet fork and the projected image of the positioning identifier on the designated plane according to the image data after the pallet fork lifts the storage container to be placed to the height equal to the target layer of the target storage container; and regulating the distance between the fork and the target inventory container according to the distance data.
After the high-position forklift finishes taking the articles, the storage containers (such as trays) for containing the articles are required to be placed on the corresponding storage container layer when the articles are taken, namely, the returning position corresponding to each storage container to be placed is fixed on the storage container. When returning the storage containers, the processing and control module first controls the fork to lift the storage containers to be placed to the same height as the target layer of the target storage containers. The target inventory container is a multi-layer high-level inventory container, and the height difference between two adjacent layers of inventory containers is the same, for example, 1 meter. Meanwhile, each layer of the inventory container is provided with a positioning mark, the positioning mark on each layer is fixed, and the fixed position comprises a position which is theoretically opposite to an image collector arranged on a fork on a target layer of the target inventory container after the fork lifts the inventory container to the same height as the target layer of the target inventory container. The positioning identifier is, for example, a two-dimensional code, such as a DM code.
After the processing regulation and control module 4 controls the fork to lift the storage container to the height equal to the target layer of the target inventory container, the positioning identifier attached to the target layer of the target inventory container is collected in real time through the image collector arranged at the front end of the fork, and then image data capable of representing the position relation between the fork and the projection image projected by the positioning identifier to the designated plane is obtained, wherein the designated plane can be exemplarily a plane perpendicular to the fork between the fork and the positioning identifier. And adjusting the position of the fork according to the acquired image data, so that the adjusted fork can place the storage container borne by the fork to a target layer of the target inventory container only by horizontally moving.
Further, adjusting the distance between the forks and the target inventory receptacle, i.e., shortening the distance between the forks and the target inventory receptacle, may be accomplished by moving the forks horizontally. And the distance of horizontal movement of the fork is greater than the distance data acquired by the distance sensor, so that the aim of returning the storage container can be fulfilled. Furthermore, in order to ensure the stability of the storage container and the accuracy of the movement distance of the fork, when the distance between the fork and the target inventory container is regulated and controlled, the attribute of the storage container needs to be considered besides the distance data collected by the distance sensor, wherein the attribute of the storage container comprises the information of the length, the width, the height and the like of the storage container. In this embodiment, the bin property includes a width of the bin. Preferably, the processing and control module 4 sums the distance between the front end of the fork and the target inventory receptacle, which is acquired by the distance sensor, with the width of the storage receptacle, and uses the sum as the horizontal distance required to move toward the target inventory receptacle when the fork is placed in the storage receptacle. Therefore, the fork after the position is adjusted can be controlled to move the calculated horizontal distance towards the direction of the target inventory container through the processing and regulating module 4, the storage container can be ensured to reach the target layer of the target inventory container, and the return and placement of the storage container can be completed.
The high-order fork truck that this embodiment provided, after control fork lifts storage container to the equal height of target inventory container assigned position, gather the location sign in real time according to image collector, the position of automatic adjustment fork for target inventory container, the fork that gathers according to storage container attribute and distance sensor simultaneously returns the horizontal distance that storage container required removal is calculated to the distance of storage container and target inventory container, in order to reach the purpose of accurate storage container to the inventory container assigned position of returning, storage container's return efficiency has been promoted.
Example two
Fig. 4 is a schematic structural diagram of a high-order forklift provided in this embodiment, where the embodiment is optimized based on the foregoing embodiment, and the processing regulation and control module 4 includes:
and the target position adjusting unit is used for controlling the fork to move to a target position in a left-right or up-down moving mode according to the position of the collected positioning identifier in the image shot by the image collector, wherein the projected image corresponding to the positioning identifier is positioned at a preset standard position in the image shot by the image collector at the target position.
The preset standard position is exemplarily the central position of the image shot by the image collector. Due to reasons such as ground leveling degree or self control precision of a high-position forklift, when the fork lifts the storage container to the same height as a target layer of the target storage container, the positioning mark acquired by the image acquirer at the front end of the fork is not in the center position of the image shot by the image acquirer, namely the fork is not aligned with the positioning mark.
Therefore, the fork position needs to be calibrated to the target position. As an alternative calibration method, calibration may be performed by monitoring the position of the positioning mark in real time during adjustment of the forks. Illustratively, if the projection image corresponding to the collected positioning identifier is at a position which is deviated to the left in the image shot by the image collector, the fork is moved to the left, and meanwhile, the positioning identifier is collected in real time until the collected positioning identifier is located at the center position of the image shot by the image collector, the fork is stopped to be moved, and at this moment, the position of the fork is the target position. As another optional calibration mode, the distance between the front end of the fork and the target inventory container, which is measured by the distance sensor, and the size of the positioning mark shot by the image collector may be used to calibrate the pixel value, calculate the distance deviation of the positioning mark relative to the center position of the image shot by the image collector according to the calibrated pixel value, and determine to directly move the fork to the target position according to the distance deviation.
The vertical moving unit is used for controlling the pallet fork to vertically move upwards for a preset distance from a target position so that the storage container carried by the pallet fork can stretch into the storage space of the target inventory container without obstruction; wherein the preset distance is determined according to the height of the positioning mark and the height of the bottom surface of the target layer of the target inventory receptacle.
After the fork is adjusted to the target position, in order to ensure that the fork can return the storage container normally, the bottom surface of the storage container is higher than the bottom surface of a target layer of the target inventory container, and the height difference between the bottom surface and the target layer is smaller than a preset threshold value, wherein the bottom surfaces of the target layer of the target inventory container are the upper bottom surface of the target layer. The vertical moving unit is required to control the fork to move vertically upward from the target position by a preset distance, wherein the preset distance is determined according to the height of the positioning mark and the height of the bottom surface of the target layer of the target inventory receptacle, and the preset distance is within an interval (a, B), wherein a is the height difference between the positioning mark and the bottom surface of the target layer of the target inventory receptacle, and B is the sum of a and a preset threshold, wherein the preset threshold is the allowable maximum motion error.
The high-order fork truck that this embodiment provided is after gathering the location sign, according to the projection image that the location sign corresponds in the image collector image internal position through moving about or reciprocate the mode calibration fork to the target location of fork, then shifts up the fork certain distance perpendicularly to this realizes the accurate positioning to the fork, guarantees the fork and returns the degree of accuracy of storage container, with this returning efficiency that can promote storage container.
EXAMPLE III
Fig. 5a is a schematic structural diagram of a high-order forklift provided in this embodiment, where the embodiment is optimized based on the foregoing embodiment, and the processing regulation and control module 4 includes:
and the judging unit is used for judging whether the angle deviation of the collected positioning identifier in the horizontal direction is greater than a preset angle threshold value according to the position of the collected positioning identifier in the image shot by the image collector before the fork is vertically moved upwards from the target position by a preset distance by the vertical moving unit.
Because receive the influence of warehouse ground levelness, the fork has certain slope, consequently need judge whether the degree of slope of current fork can influence storage container's return. Specifically, the determination may be performed by determining whether an angle deviation of the collected positioning identifier in the horizontal direction is greater than a preset angle threshold.
And the target distance determining unit is used for determining the height of the lowest position of the storage container according to the angle deviation and the storage container attribute when the judging unit judges that the angle deviation of the collected positioning identifier in the horizontal direction is larger than a preset angle threshold value, calculating a target distance according to the height of the lowest position of the storage container and the height of the bottom surface of a target layer of the target storage container, and controlling the fork to vertically and upwards move the target distance from the target position, wherein the storage container attribute comprises the length of the storage container.
In this embodiment, the attribute of the storage container is the length of the storage container. The lowest position of the storage container is lower than the horizontal plane of the target position necessarily due to the inclination of the fork, and the distance between the lowest position of the storage container and the horizontal plane of the target position can be determined through a trigonometric function, so that the height of the lowest position of the storage container is determined. Illustratively, as shown in fig. 5b, the tilted bin MN, the bin XY in the horizontal direction of the target position, the angular deviation a, the bin length determination d, the center point o, determined by a trigonometric relationship, is located at a distance of about tan (a) d/2 from the horizontal plane at which the lowest position M of the bin MN is located, based on which the target distance determination unit determines the height of the lowest position M of the bin MN, since the horizontal height of the target position is known.
And determining a target distance according to the height of the lowest position of the storage container and the height of the bottom surface of the target layer of the target inventory container, wherein the target distance determining unit controls the fork to vertically move upwards for the target distance from the target position, the target distance is larger than the height difference between the lowest position of the storage container and the bottom surface of the target layer of the target inventory container, and after the target distance is moved, the height difference between the lowest position of the storage container and the bottom surface of the target layer of the target inventory container is smaller than a preset threshold value.
Correspondingly, the vertical moving unit is further configured to vertically move the pallet fork upwards by a preset distance from the target position when the judging unit judges that the angle deviation of the collected positioning identifier in the horizontal direction is not greater than a preset angle threshold.
The high-order fork truck that this embodiment provided, after adjusting the fork to just the position of location sign, judge whether the angular deviation of location sign on the horizontal direction is greater than preset angle threshold, if, then calculate the target distance that the fork need shift up perpendicularly again according to the angular deviation to reach the further accurate positioning to the fork, accurate storage container returns when guaranteeing the fork slope, and then can promote storage container's the efficiency of returning.
Example four
In this embodiment, the optimization is performed based on the above embodiment, and the processing regulation and control module is further configured to:
and indicating the high-level forklift to carry the storage container to move to a preset position, wherein the preset position is positioned right in front of the target inventory container, and the distance between the preset position and the target inventory container is within a preset distance interval.
In this embodiment, before returning the storage container, the high-level forklift moves the storage container to a preset position, wherein the preset position is located right in front of the target storage container and the distance between the preset position and the target storage container is within a preset distance interval, and the preset position is an area within 20-30 cm right in front of the target storage container.
Specifically, the top of the high-position forklift is provided with a laser radar. Before the high-position forklift returns the storage container, the high-position forklift can be controlled to run in the warehouse for a circle in advance, and a high-precision map of the warehouse is constructed according to the point cloud data acquired by the laser radar. When the high-order forklift returns the storage container, the processing module constructs a global map around the high-order forklift in real time according to point cloud data acquired by a laser radar based on a laser slam technology, and matches and compares the global map constructed in real time with a high-precision map constructed in advance, so that the high-order forklift is controlled to automatically navigate to a preset position.
Besides, after the returning module returns the storage container, the processing and regulating module is also used for withdrawing the pallet fork and controlling the pallet fork to descend to the initial position. So that the high-order forklift receives a new command to continue to execute the corresponding operation.
The high-order fork truck of this embodiment, before returning the storage container, high-order fork truck carries the storage container and removes preset position, for the storage container that accurately returns provides the position assurance, is accomplishing simultaneously and returns the task after, and the fork resets initial position to high-order fork truck continues to carry out other task, can improve high-order fork truck's operating efficiency from this.
EXAMPLE five
Fig. 6 is a flowchart of a calibration method for returning a storage container according to a fifth embodiment of the present invention, where the present embodiment is applicable to a case where a high-order forklift returns a storage container containing an article after the high-order forklift finishes taking out the article, and the method is executed by the high-order forklift provided in the above embodiment, where the high-order forklift includes a fork, and an image collector and a distance sensor are provided on the fork, the image collector is configured to acquire image data that can represent a positional relationship between the fork and a projection image of the positioning identifier projected onto a specified plane by collecting the positioning identifier provided on a target storage container, and the distance sensor is configured to measure a distance between the fork and the target storage container and acquire the distance data. As shown in fig. 6, the calibration method for returning the storage container provided in the embodiment of the present invention may include:
s110, after the fork lifts the storage container to be placed to the height equal to the target layer of the target storage container, regulating and controlling the position relation between the fork and the projection image of the positioning mark on the designated plane according to the image data.
And S120, regulating and controlling the distance between the pallet fork and the target inventory container according to the distance data.
The distance between the fork and the target inventory container is regulated and controlled, namely the distance between the fork and the target inventory container is shortened, so that the aim of returning the storage container is fulfilled. When the distance between the fork and the target inventory container is regulated, the attribute of the storage container is also considered, and the horizontal distance required to move towards the direction of the target inventory container when the fork returns the storage container can be determined based on the attribute of the storage container and the distance between the fork and the target inventory container acquired by the distance sensor. And moving the fork after the position adjustment towards the direction of the target inventory container by the horizontal distance so as to return the storage container.
The calibration method for returning the storage container provided by this embodiment is executed by the corresponding high-order forklift, and the execution principle is described in detail in the above embodiments, which is not described herein again.
In the embodiment, after the fork lifts the storage container to the same height as the specified position of the target inventory container, the position of the fork relative to the target inventory container is automatically adjusted according to the positioning identification acquired by the image acquisition device in real time, and meanwhile, the horizontal distance required to move for returning the storage container is calculated according to the attribute of the storage container and the distance between the fork acquired by the distance sensor and the target inventory container, so that the aim of accurately returning the storage container to the specified position of the inventory container is fulfilled, and the returning efficiency of the storage container is improved.
EXAMPLE six
Fig. 7 is a flowchart of a calibration method for returning a storage container according to a sixth embodiment of the present invention. In this embodiment, optimized based on the above embodiment, as shown in fig. 7, the calibration method for returning the storage container provided in the embodiment of the present invention may include:
s210, after the fork lifts the storage container to be placed to the height equal to the target layer of the target inventory container, the positioning mark arranged on the target layer of the target inventory container is collected in real time through the image collector.
S220, adjusting the pallet fork to a target position in a left-right moving or up-down moving mode according to the position of the collected positioning mark in the image shot by the image collector, wherein the projected image corresponding to the positioning mark is located at a preset standard position in the image shot by the image collector at the target position.
And S230, vertically moving the pallet fork upwards for a preset distance from the target position, wherein the preset distance is determined according to the height of the positioning mark and the height of the bottom surface of the target layer of the target inventory container.
And S240, regulating and controlling the distance between the pallet fork and the target inventory container according to the distance data.
The calibration method for returning the storage container provided by this embodiment is executed by the corresponding high-order forklift, and the execution principle is described in detail in the above embodiments, which is not described herein again.
In this embodiment, after gathering the location sign, the mode calibration fork to the target location through removing about or reciprocate the fork according to the projecting image that the location sign corresponds in the image collector image, then moves the fork certain distance up perpendicularly to this realizes the accurate positioning to the fork, guarantees the fork and returns the degree of accuracy of storage container, with this can promote storage container's the efficiency of returning.
EXAMPLE seven
Fig. 8 is a flowchart of a calibration method for returning a storage container according to a seventh embodiment of the present invention. In this embodiment, optimized based on the above embodiment, as shown in fig. 8, the calibration method for returning the storage container provided in the embodiment of the present invention may include:
s310, after the fork lifts the storage container to be placed to the height equal to the target layer of the target inventory container, the positioning mark arranged on the target layer of the target inventory container is collected in real time through the image collector.
And S320, adjusting the pallet fork to a target position in a left-right moving or up-down moving mode according to the position of the collected positioning mark in the image shot by the image collector, wherein the projection image corresponding to the positioning mark is positioned at a preset standard position in the image shot by the image collector at the target position.
And S330, judging whether the angle deviation of the collected positioning mark in the horizontal direction is greater than a preset angle threshold, if so, executing S340, and otherwise, executing S350.
S340, determining the height of the lowest position of the storage container according to the angle deviation and the storage container attribute, determining a target distance according to the height of the lowest position of the storage container and the height of the bottom surface of the target layer of the target storage container, and vertically moving the fork upwards by the target distance from the target position.
And S350, vertically moving the pallet fork upwards for a preset distance from the target position, wherein the preset distance is determined according to the height of the positioning mark and the height of the bottom surface of the target layer of the target inventory container.
And S360, regulating and controlling the distance between the pallet fork and the target inventory container according to the distance data.
The calibration method for returning the storage container provided by this embodiment is executed by the corresponding high-order forklift, and the execution principle is described in detail in the above embodiments, which is not described herein again.
In this embodiment, after adjusting the fork to just to the position of location sign, judge whether the angular deviation of location sign on the horizontal direction is greater than preset angle threshold, if, then calculate the target distance that the fork need move up perpendicularly again according to the angular deviation to reach the further accurate positioning to the fork, accurate storage container returns when guaranteeing the fork slope, and then can promote storage container's the efficiency of returning.
Example eight
Fig. 9 is a flowchart of a calibration method for returning a storage container according to an eighth embodiment of the present invention. The embodiment is optimized based on the above embodiment, and as shown in fig. 9, the calibration of the returning storage container provided in the embodiment of the present invention may include:
and S410, moving the carrying storage container to a preset position, wherein the preset position is positioned right in front of the target inventory container, and the distance between the preset position and the target inventory container is within a preset distance interval.
And S420, after the fork lifts the storage container to be placed to the height equal to the target layer of the target storage container, regulating and controlling the position relation between the fork and the projection image of the positioning mark on the designated plane according to the image data acquired by the image acquisition device.
And S430, regulating and controlling the distance between the fork and the target inventory container according to the distance data acquired by the distance sensor.
And S440, after the storage container is placed, withdrawing the pallet fork and controlling the pallet fork to descend to the initial position.
The calibration method for returning the storage container provided by this embodiment is executed by the corresponding high-order forklift, and the execution principle is described in detail in the above embodiments, which is not described herein again.
In this embodiment, before returning the storage container, the high-order fork truck carries the storage container to move to preset position, for the storage container that accurately returns provides the position assurance, and simultaneously after accomplishing the task of returning, the fork resets to initial position to high-order fork truck continues to carry out other tasks, can improve high-order fork truck's operating efficiency from this.
Example nine
The calibration device for returning the storage container provided by the ninth embodiment of the invention is configured on a processing regulation and control module of a high-order forklift, the high-order forklift comprises a fork, two front ends of the fork are respectively provided with an image collector and a distance sensor, the image collector is used for acquiring image data capable of representing the position relation between projection images projected by the fork and a positioning mark onto a specified plane by collecting the positioning mark arranged on a target inventory container, and the distance sensor is used for measuring the distance between the fork and the target inventory container and acquiring the distance data. As shown in fig. 10, it shows a schematic structural view of a calibration device for returning a storage container, the device comprising:
the position adjusting module 510 is configured to adjust and control a position relationship between the pallet fork and the projection image of the positioning identifier on the designated plane according to the image data after the pallet fork lifts the storage container to be placed to a height equal to a target layer of a target storage container;
a distance regulating module 520, configured to regulate a distance between the fork and the target inventory receptacle according to the distance data.
In this embodiment, after the fork lifts the storage container to the same height of target inventory container assigned position, the collection adjustment module automatically adjusts the position of the fork relative to the target inventory container according to the positioning identification collected by the image collector in real time, and simultaneously regulates and controls the distance between the fork and the target inventory container according to the distance data collected by the distance sensor, so as to realize the purpose of accurately returning the storage container to the inventory container assigned position, and improve the returning efficiency of the storage container.
On the basis of the above embodiments, the position adjustment module includes:
the target position adjusting unit is used for adjusting the pallet fork to a target position in a left-right or up-down moving mode according to the position of the collected positioning identifier in the image shot by the image collector, wherein the projected image corresponding to the positioning identifier is located at a preset standard position in the image shot by the image collector at the target position;
the vertical moving unit is used for vertically moving the pallet fork upwards for a preset distance from the target position so that the storage container carried by the pallet fork can stretch into the storage space of the target inventory container without obstruction; wherein the preset distance is determined according to the height of the positioning mark and the height of the bottom surface of the target layer of the target inventory receptacle.
On the basis of the above embodiments, the position adjustment die further includes:
the judging unit is used for judging whether the angle deviation of the collected positioning mark in the horizontal direction is greater than a preset angle threshold value or not according to the position of the collected positioning mark in the image shot by the image collector before the fork is vertically moved upwards from the target position by a preset distance by the vertical moving unit;
the target distance determining unit is used for determining the height of the lowest position of the storage container according to the angle deviation and the storage container attribute when the judging unit judges that the angle deviation of the collected positioning identifier in the horizontal direction is larger than a preset angle threshold value, then determining a target distance according to the height of the lowest position of the storage container and the height of the bottom surface of a target layer of the target inventory container, and vertically moving the fork upwards from the target position by the target distance; the bin property comprises a bin length;
correspondingly, the vertical moving unit is further configured to vertically move the pallet fork upwards by a preset distance from the target position when the judging unit judges that the angle deviation of the collected positioning identifier in the horizontal direction is not greater than a preset angle threshold.
On the basis of the above embodiments, the bin property includes a bin width;
correspondingly, the distance regulation module is further configured to:
summing the distance between the front end of the fork and the target inventory container acquired by the distance sensor with the width of the storage container, and taking the obtained sum as the horizontal distance required to move towards the direction of the target inventory container when the fork returns to the storage container.
On the basis of the above embodiments, the apparatus further includes:
and the moving module is used for indicating the high-position forklift to carry the storage container to move to a preset position, wherein the preset position is positioned right in front of the target inventory container, and the distance between the preset position and the target inventory container is within a preset distance interval.
On the basis of the above embodiments, the positioning mark is fixedly arranged at a fixed position of each layer of the target inventory container, wherein the fixed position comprises a position on the target layer of the target inventory container, which is opposite to the image collector arranged on the fork, after the fork lifts the storage container to the same height as the target layer of the target inventory container.
On the basis of the above embodiments, the apparatus further includes:
and the withdrawing module is used for withdrawing the pallet fork after returning the storage container and controlling the pallet fork to descend to the initial position.
The calibration device for returning the storage container provided by the embodiment of the invention can execute the calibration method for returning the storage container provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example ten
In an embodiment of the invention, there is provided a storage medium containing computer executable instructions which, when executed by a computer processor, perform a calibration method for returning a bin, the method comprising:
after the fork lifts the storage container to be placed to the height equal to the target layer of the target storage container, regulating and controlling the position relation between the fork and the projection image of the positioning mark on the designated plane according to the image data collected by the image collector;
and regulating and controlling the distance between the pallet fork and the target inventory container according to the distance data.
Of course, the storage medium provided in the embodiments of the present invention contains computer executable instructions, and the computer executable instructions are not limited to the operations of the method described above, and may also perform related operations in the calibration method for returning the storage container provided in any embodiments of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A high-order forklift is characterized by comprising a pallet fork, an image collector, a distance sensor and a processing regulation and control module; the processing regulation and control module is electrically connected with the fork, the image collector and the distance sensor respectively; wherein:
the pallet fork comprises a first pallet fork and a second pallet fork and is used for bearing a storage container to be placed;
the image collector is arranged on the first fork and used for acquiring image data capable of representing the position relation between the fork and a projection image projected to a specified plane by the positioning mark arranged on a target inventory container;
the distance sensor is arranged on the second fork and used for measuring the distance between the fork and the target inventory container and acquiring distance data;
the processing regulation and control module is used for regulating and controlling the position relation between the pallet fork and the projected image of the positioning identifier on the designated plane according to the image data after the pallet fork lifts the storage container to be placed to the height equal to the target layer of the target storage container; and regulating the distance between the pallet fork and the target inventory container according to the distance data;
wherein the treatment modulation module comprises:
the target position adjusting unit is used for controlling the pallet fork to move to a target position in a left-right movement or up-down movement mode according to the position of the collected positioning mark in the image shot by the image collector; at the target position, the projection image corresponding to the positioning identifier is positioned at a preset standard position in the image shot by the image collector;
the vertical moving unit is used for controlling the pallet fork to vertically move upwards for a preset distance from the target position so that the storage container carried by the pallet fork can stretch into the storage space of the target inventory container without obstruction; the preset distance is determined according to the height of the positioning identifier and the height of the bottom surface of the target layer of the target inventory container;
the process control module further comprises:
the judging unit is used for judging whether the angle deviation of the collected positioning identifier in the horizontal direction is greater than a preset angle threshold value or not according to the position of the collected positioning identifier in the image shot by the image collector before the fork is vertically moved upwards from the target position by a preset distance by the vertical moving unit;
the target distance determining unit is used for determining the height of the lowest position of the storage container according to the angle deviation and the storage container attribute when the judging unit judges that the angle deviation of the collected positioning identifier in the horizontal direction is larger than a preset angle threshold, calculating a target distance according to the height of the lowest position of the storage container and the height of the bottom surface of a target layer of the target inventory container, and controlling the fork to vertically move upwards from the target position by the target distance; the bin property comprises a bin length;
the vertical moving unit is further used for moving the fork vertically upwards for a preset distance from the target position when the judging unit judges that the angle deviation of the collected positioning identifier in the horizontal direction is not larger than a preset angle threshold value.
2. The overhead lift truck of claim 1, wherein the bin properties include bin width;
the process conditioning module is further configured to:
summing the distance between the front end of the fork and the target inventory container acquired by the distance sensor with the width of the storage container, and taking the obtained sum as the horizontal distance required to move towards the direction of the target inventory container when the fork returns to the storage container.
3. The high lift truck of claim 1, wherein the process control module is further configured to:
and instructing the high-position forklift to carry the storage container to move to a preset position, wherein the preset position is positioned right in front of the target inventory container, and the distance between the preset position and the target inventory container is within a preset distance interval.
4. The forklift as recited in any one of claims 1 to 3, wherein the positioning mark is fixedly disposed at a fixed position on each level of the target inventory receptacle, wherein the fixed position includes a position on the target level of the target inventory receptacle opposite to the image collector disposed on the fork after the fork lifts the storage receptacle to a height equal to the target level of the target inventory receptacle.
5. The high lift truck of claim 1, wherein the process control module is further configured to:
and after returning the storage container, withdrawing the pallet fork and controlling the pallet fork to descend to the initial position.
6. A calibration method for returning a storage container is characterized by being performed by an overhead forklift, wherein the overhead forklift comprises a fork, an image collector and a distance sensor are arranged on the fork, the image collector is used for acquiring image data which can represent the position relation between the fork and a projection image projected by a target inventory container and projected by the positioning identifier on a designated plane by collecting the positioning identifier arranged on the target inventory container, and the distance sensor is used for measuring the distance between the fork and the target inventory container and acquiring distance data, wherein the method comprises the following steps:
after the fork lifts the storage container to be placed to the height equal to the target layer of the target inventory container, regulating and controlling the position relation between the fork and the projected image of the positioning identifier on the designated plane according to the image data;
regulating and controlling the distance between the pallet fork and the target inventory container according to the distance data;
wherein, regulating and controlling the position relation between the pallet fork and the projection image of the positioning mark on the designated plane comprises:
adjusting the pallet fork to a target position in a left-right or up-down moving mode according to the position of the collected positioning mark in the image shot by the image collector; the projection image corresponding to the positioning identifier is positioned at a preset standard position in the image shot by the image collector at the target position;
vertically moving the pallet fork upwards for a preset distance from the target position so that the storage container carried by the pallet fork extends into the storage space of the target storage container without obstruction; wherein the preset distance is determined according to the height of the positioning identifier and the height of the bottom surface of the target layer of the target inventory receptacle;
before moving the fork vertically upward from the target position by a preset distance, regulating and controlling a position relationship between the fork and the projection image of the positioning identifier on the designated plane according to the image data further comprises:
judging whether the angle deviation of the collected positioning mark in the horizontal direction is greater than a preset angle threshold value according to the position of the collected positioning mark in the image shot by the image collector;
if so, determining the height of the lowest position of the storage container according to the angle deviation and the storage container attribute, determining a target distance according to the height of the lowest position of the storage container and the height of the bottom surface of a target layer of the target inventory container, and vertically moving the fork upwards by the target distance from the target position; the bin property comprises a bin length;
and if not, executing a step of vertically moving the pallet fork upwards for a preset distance from the target position.
7. The method of claim 6, wherein the bin properties further include bin width;
regulating a distance between the forks and the target inventory receptacle based on the distance data, including:
summing the distance between the front end of the fork and the target inventory container acquired by the distance sensor with the width of the storage container, and taking the obtained sum as the horizontal distance required to move towards the direction of the target inventory container when the fork returns to the storage container.
8. The method of claim 6, wherein prior to the forks lifting the bin to be placed to the same height as the target level of the target inventory receptacle, the method further comprises:
and moving the storage container to a preset position, wherein the preset position is positioned right in front of the target inventory container, and the distance between the preset position and the target inventory container is within a preset distance interval.
9. The method according to any one of claims 6 to 8, wherein the locating marks are fixedly arranged at fixed positions on each level of the target inventory receptacle, wherein the fixed positions comprise positions on the target level of the target inventory receptacle which are opposite to the image collector arranged on the fork after the fork lifts the storage receptacle to the same height as the target level of the target inventory receptacle.
10. The method of claim 6, wherein after returning the bin, the method further comprises:
and withdrawing the pallet fork and controlling the pallet fork to descend to the initial position.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method of calibration for return of a storage container according to any one of claims 6 to 10.
Priority Applications (4)
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| CN201910272981.8A CN109987550B (en) | 2019-04-04 | 2019-04-04 | Calibration method and storage medium for high-position forklift and returning storage container |
| PCT/CN2019/102910 WO2020199471A1 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
| EP19923051.7A EP3950566B1 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
| US17/600,544 US11958687B2 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
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| EP3950566B1 (en) * | 2019-04-02 | 2024-03-20 | Beijing Geekplus Technology Co., Ltd. | High-position robot, method for calibrating return of storage container, and storage medium |
| CN110850868A (en) * | 2019-10-12 | 2020-02-28 | 浙江大华机器人技术有限公司 | Deviation rectifying method, device and equipment for AGV (automatic guided vehicle) butt joint of cows and storage medium |
| US20230234234A1 (en) * | 2020-05-15 | 2023-07-27 | Aulton New Energy Automotive Technology Group | Visual positioning system, battery replacing device, and battery replacement control method |
| CN112027469A (en) * | 2020-10-14 | 2020-12-04 | 河南中烟工业有限责任公司 | Tunnel stacker and three-dimensional goods shelf space position monitoring system |
| CN112340339A (en) * | 2020-11-09 | 2021-02-09 | 苏州罗伯特木牛流马物流技术有限公司 | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car |
| CN112744498B (en) * | 2020-12-28 | 2022-09-06 | 上海快仓智能科技有限公司 | Transfer robot, transfer control method, control equipment and warehousing system |
| CN113158975B (en) * | 2021-05-13 | 2023-09-12 | 卡奥斯工业智能研究院(青岛)有限公司 | Information writing method, device, equipment and storage medium of intelligent equipment |
| CN117105132B (en) * | 2023-10-24 | 2024-01-30 | 福勤智能科技（昆山）有限公司 | Fork height control method and system for forklift |
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