CN110127569A - Vision looks for the method and fork truck in hole - Google Patents
Vision looks for the method and fork truck in hole Download PDFInfo
- Publication number
- CN110127569A CN110127569A CN201910278050.9A CN201910278050A CN110127569A CN 110127569 A CN110127569 A CN 110127569A CN 201910278050 A CN201910278050 A CN 201910278050A CN 110127569 A CN110127569 A CN 110127569A
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- China
- Prior art keywords
- supporting plate
- vision
- looks
- fork truck
- hole
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Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of methods that vision looks for hole, comprising: provides a supporting plate, the supporting plate has jack, and the supporting plate is used for bearing goods；Imaging sensor is set on fork truck, and the fork truck is mobile towards the supporting plate；When described image sensor acquires the image of the supporting plate, the prong of the fork truck does approach movement according to the position that the jack is located at acquired image.The present invention provides the method and fork truck that a kind of vision looks for hole, the image of supporting plate is acquired by the imaging sensor being arranged on fork truck, the prong of fork truck is set to do movement according to the position that jack is located at acquired image, positioning measurement is accurate, it can identify the deviation between jack hole location and prong, since the video data information amount of acquisition is big, strong antijamming capability, situations such as preventing partial occlusion, influences positioning accuracy.
Description
Technical field
The present invention relates to works to come field, and the method and fork truck in hole are looked for more particularly, to a kind of vision.
Background technique
With the continuous development of automatic technology, existing fork truck is all intelligent, existing using prong automation fortune
Cargo interests formula is all made of the fixed high mode (namely by the way of shelf+supporting plate) of cargo jack, is needed using which a large amount of
The Automatic-searching of jack position cannot be realized when some cargos are not suitable for using shelf using shelf.Another is simple
Jack mode is looked for, realizes the positioning of jack according to the depth information of jack position using laser or TOF mode, but which
It will receive the interference of cobweb etc in winding film or jack, wrong report situation often occur.When supporting plate is put it is irregular when appearance
It easily inserts partially and pushes supporting plate movement, there is very big security risk.Contact-sensing can be mounted on prong there are also some fork trucks
Device, when supporting plate put angle that is irregular and entering to pitch disalignment it is larger when, tines contact supporting plate, touch sensor feedback
Signal is to fork truck.The former may be without judging blade position during entering fork.The latter is not exposed to supporting plate in gear shaping sensor
When, it can not also guide fork truck to complete to act into fork.And when to put angle that is irregular and entering to pitch disalignment smaller for supporting plate
When, gear shaping can not contact supporting plate, may make the whole translation to the left or to the right of two yokes, make in two yokes of deviation of gravity center
The heart, causes gravity center instability after forklift goods, and the walking of object goods is dangerous.In order to overcome the shortcomings in the prior art, a kind of view is provided
Feel the method for looking for hole.
Summary of the invention
The present invention solves the problems, such as accurately enter entry in prong in the prior art, provides a kind of vision and looks for hole
Method and fork truck.
In order to achieve the above object, the invention is realized by the following technical scheme:
A kind of method that vision looks for hole, comprising: provide a supporting plate, the supporting plate has jack, and the supporting plate is for carrying
Cargo；Imaging sensor is set on fork truck, and the fork truck is mobile towards the supporting plate；When described image sensor acquires the support
When the image of plate, the prong of the fork truck does approach movement according to the position that the jack is located at acquired image.
An embodiment according to the present invention, the front end of the prong are shown in the image of described image sensor acquisition
Central location.
An embodiment according to the present invention, the prong pass through the control movement of hydraulic control unit up and down.
An embodiment according to the present invention, when described image sensor acquires the image of the supporting plate using filtering
Algorithm.
An embodiment according to the present invention, side setting identification figure of the supporting plate relative to described image sensor
Shape.
An embodiment according to the present invention obtains institute when described image sensor acquires the image of the supporting plate
State the characteristic value of supporting plate.
An embodiment according to the present invention, the acquisition precision of described image sensor is more than millimeter rank.
An embodiment according to the present invention, the method that the vision looks for hole further includes freight detection, the cargo inspection
Survey includes that kinds of goods detection and cargo put detection.
An embodiment according to the present invention, the method that the vision looks for hole further includes being adopted by described image sensor
Collection environmental data professional etiquette of going forward side by side is kept away.
The middle control of a kind of fork truck, the fork truck ships cargo using the method that above-mentioned vision looks for hole.
The present invention provides the method and fork truck that a kind of vision looks for hole, passes through the imaging sensor acquisition support being arranged on fork truck
The image of plate makes the prong of fork truck do movement according to the position that jack is located at acquired image, and positioning measurement is accurate, can
To identify the deviation between jack hole location and prong, since the video data information amount of acquisition is big, strong antijamming capability is prevented
Positioning accuracy is only influenced situations such as partial occlusion.
Detailed description of the invention
Fig. 1 is the flow chart that the vision of embodiment looks for the method in hole；
Fig. 2 is the functional block diagram that the vision of embodiment looks for the method in hole.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawing:
As shown in Figure 1, the present invention provides a kind of method that vision looks for hole, comprising:
S10, a supporting plate is provided, the supporting plate has jack, and jack generally can be two symmetrically arranged cavitys, the support
Plate is used for bearing goods, and supporting plate is as article carrying platform；
S20, imaging sensor is set on fork truck, the fork truck is mobile towards the supporting plate, that is, towards the direction of cargo
It is moved to supporting plate side；
S30, when this imaging sensor acquire the image of the supporting plate when, the prong of the fork truck is according to the jack position
Approach movement is done in the position of acquired image, prong is cooperating corresponding with jack, and prong is deep into jack
To complete subsequent lift.
The present invention finds the position of the jack of supporting plate by imaging sensor, and tracks the position of jack, before making prong
End approach jack simultaneously coincides with, and then prong is guided to complete entirely to enter fork movement, and the accurate fork for realizing prong enters, can make whole
A process prevents the generation of accident in monitoring.
The mode for entering fork is more flexible.In order to preferably determine positional relationship, the front end of the prong is shown in the figure
As the central location that sensor acquires, the positional relationship of prong and imaging sensor is opposite be it is fixed, in setting image sensing
When device position, the front end for the prong that can be fixed is shown in the central location of picture, to preferably determine prong and jack
Combination situation, simultaneously should clearly include the shape of prong front end in video image.
In the present embodiment, the prong is by the control movement of hydraulic control unit up and down, adjustment prong front end with
Positional relationship between jack is adjusted by four direction up and down and approaches jack, to facilitate adjustment prong and insert
Relative positional relationship between hole.
In order to improve accuracy, using filtering algorithm when described image sensor acquires the image of the supporting plate, such as adopt
With middle position value filtering method or digital averaging filtering method etc., middle position value filtering method takes median as effective by the sampling of continuous n times
Value, digital averaging filtering method continuously takes N number of sampled value to carry out arithmetic average operation and obtains virtual value, thus exclusive PCR information,
Imaging sensor video data information amount collected is larger, can be blocked by receptacle portion in actual working environment, is transparent
The influence for winding film and cobweb needs it to exclude to prevent from influencing precision.
For the ease of management, the supporting plate is arranged relative to the side of described image sensor identifies figure, that is,
The identification figure of recognition reaction has been arranged in side towards fork truck, and identification figure can be simple regular figure, be also possible to
Complicated image information such as two dimensional code etc., identification figure can be the picture of plane, and groove or protrusion that can also be three-dimensional be various
Different identification figures can play the technical effect of identification, can play and differentiate supporting plate relative to the cargo carried, together
When can also improve response speed, improve the speed of identification.
Optionally, when described image sensor acquires the image of the supporting plate, the characteristic value of the supporting plate is obtained, it can be with
Width, height or shape of height, width and jack including supporting plate etc., so as to be managed to different supporting plates, with
Adapt to the needs of different product.
Further, the acquisition precision of described image sensor is more than millimeter rank, by selecting accuracy rating in example
Such as 1 millimeter or more of imaging sensor, keep positioning measurement more acurrate, reduces the deviation between identification jack and prong.
Optionally, the method that the vision looks for hole further includes freight detection, and the freight detection includes kinds of goods detection and goods
Object puts detection, and whether the size that kinds of goods are detected as providing the cargo on supporting plate meets preset value, that is, realizes judgement support
The whether correct purpose of cargo on plate prevents cargo from putting mistake, and cargo, which is put, is detected as determining that cargo is to be well placed, and can pass through
The size or shape etc. of cargo determines whether to be placed in middle position, prevent as put it is bad caused by cargo damage.
In the present embodiment, the method that the vision looks for hole further includes acquiring environmental data simultaneously by described image sensor
Evaded, other images that imaging sensor is collected in moving process can be used as environmental data, such as supporting plate to be transferred
For example other supporting plates of other articles on side or other cargos and personnel etc., the damage that may cause when preventing and advancing by evading
Wound.
Correspondingly, the middle control of the fork truck is shipped using the method that above-mentioned vision looks for hole the present invention also provides a kind of fork truck
Cargo, middle control can be central control equipment or the equipment of other control actions, and functional block diagram, video are adopted as shown in connection with fig. 2
The shifting of prong then can be controlled by hydraulic control unit up and down by bus transfer to operation processing unit after collection
Dynamic, specific implementation can be real using image recognition mode by video acquisition part, operation processing unit and data output interface
The method that prong is now navigated into pallet jack center, when fork truck is close to cargo immediately ahead of cargo, vision positioning device
Always the relative position of prong and jack is analyzed, and output information allows hydraulic pressure unit to make the movement of approach, finally realizes fork
Vehicle accurately loads cargo.
The present invention provides the method and fork truck that a kind of vision looks for hole, passes through the imaging sensor acquisition support being arranged on fork truck
The image of plate makes the prong of fork truck do movement according to the position that jack is located at acquired image, and positioning measurement is accurate, can
To identify the deviation between jack hole location and prong, since the video data information amount of acquisition is big, strong antijamming capability is prevented
Positioning accuracy is only influenced situations such as partial occlusion.
Embodiment in the present invention is only used for that the present invention will be described, and is not construed as limiting the scope of claims limitation,
Other substantially equivalent substitutions that those skilled in that art are contemplated that, all fall in the scope of protection of the present invention.
Claims (10)
1. a kind of method that vision looks for hole, which is characterized in that the method that the vision looks for hole includes:
A supporting plate is provided, the supporting plate has jack, and the supporting plate is used for bearing goods；
Imaging sensor is set on fork truck, and the fork truck is mobile towards the supporting plate；
When described image sensor acquires the image of the supporting plate, the prong of the fork truck is located at according to the jack to be collected
The position of image do approach movement.
2. the method that vision looks for hole according to claim 1, which is characterized in that the front end of the prong is shown in described image
The central location of the image of sensor acquisition.
3. the method that vision looks for hole according to claim 1, which is characterized in that the prong passes through hydraulic control up and down
Unit control movement.
4. the method that vision looks for hole according to claim 1, which is characterized in that when described image sensor acquires the supporting plate
Image when use filtering algorithm.
5. the method that vision looks for hole according to claim 1, which is characterized in that the supporting plate is relative to described image sensor
Side setting identification figure.
6. the method that vision described in any one of -5 looks for hole according to claim 1, which is characterized in that when described image senses
When device acquires the image of the supporting plate, the characteristic value of the supporting plate is obtained.
7. the method that vision described in any one of -5 looks for hole according to claim 1, which is characterized in that described image sensor
Acquisition precision more than millimeter rank.
8. the method that vision described in any one of -5 looks for hole according to claim 1, which is characterized in that the vision looks for hole
Method further includes freight detection, and the freight detection includes that kinds of goods detection and cargo put detection.
9. the method that vision described in any one of -5 looks for hole according to claim 1, which is characterized in that the vision looks for hole
Method further includes acquiring environmental data professional etiquette of going forward side by side by described image sensor to keep away.
10. a kind of fork truck, which is characterized in that the middle control of the fork truck uses vision as described in any one of claims 1-9
The method for looking for hole ships cargo.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278050.9A CN110127569A (en) | 2019-04-08 | 2019-04-08 | Vision looks for the method and fork truck in hole |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910278050.9A CN110127569A (en) | 2019-04-08 | 2019-04-08 | Vision looks for the method and fork truck in hole |
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| Publication Number | Publication Date |
|---|---|
| CN110127569A true CN110127569A (en) | 2019-08-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910278050.9A Pending CN110127569A (en) | 2019-04-08 | 2019-04-08 | Vision looks for the method and fork truck in hole |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111142517A (en) * | 2019-12-12 | 2020-05-12 | 南京理工大学 | Fork-entering assisting method and device for intelligent AGV forklift |
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| JP3921968B2 (en) * | 2001-07-12 | 2007-05-30 | 株式会社豊田自動織機 | Position detection method and position detection apparatus |
| CN105502226A (en) * | 2016-01-26 | 2016-04-20 | 东莞双成电子塑胶有限公司 | Fork laser positioning auxiliary device of forklift truck |
| CN105776077A (en) * | 2016-03-28 | 2016-07-20 | 广州飞锐机器人科技有限公司 | Method and device for recognizing clamping plate furcal hole through intelligent forklift |
| CN106044645A (en) * | 2016-08-02 | 2016-10-26 | 诺力机械股份有限公司 | Cargo pallet accessing system capable of positioning based on QR code and cargo pallet accessing method capable of positioning based on QR code |
| CN106672859A (en) * | 2017-01-05 | 2017-05-17 | 深圳市有光图像科技有限公司 | Method for visually identifying tray based on forklift and forklift |
| CN107473139A (en) * | 2017-09-12 | 2017-12-15 | 林德（中国）叉车有限公司 | A kind of adaptive pallet fork control method |
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2019
- 2019-04-08 CN CN201910278050.9A patent/CN110127569A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3921968B2 (en) * | 2001-07-12 | 2007-05-30 | 株式会社豊田自動織機 | Position detection method and position detection apparatus |
| CN105502226A (en) * | 2016-01-26 | 2016-04-20 | 东莞双成电子塑胶有限公司 | Fork laser positioning auxiliary device of forklift truck |
| CN105776077A (en) * | 2016-03-28 | 2016-07-20 | 广州飞锐机器人科技有限公司 | Method and device for recognizing clamping plate furcal hole through intelligent forklift |
| CN106044645A (en) * | 2016-08-02 | 2016-10-26 | 诺力机械股份有限公司 | Cargo pallet accessing system capable of positioning based on QR code and cargo pallet accessing method capable of positioning based on QR code |
| CN106672859A (en) * | 2017-01-05 | 2017-05-17 | 深圳市有光图像科技有限公司 | Method for visually identifying tray based on forklift and forklift |
| CN107473139A (en) * | 2017-09-12 | 2017-12-15 | 林德（中国）叉车有限公司 | A kind of adaptive pallet fork control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111142517A (en) * | 2019-12-12 | 2020-05-12 | 南京理工大学 | Fork-entering assisting method and device for intelligent AGV forklift |
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Application publication date: 20190816 |
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