CN110376603B - Object positioning method and device applied to forklift - Google Patents
Object positioning method and device applied to forklift Download PDFInfo
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- CN110376603B CN110376603B CN201811037092.5A CN201811037092A CN110376603B CN 110376603 B CN110376603 B CN 110376603B CN 201811037092 A CN201811037092 A CN 201811037092A CN 110376603 B CN110376603 B CN 110376603B
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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Abstract
The invention discloses a method and a device for positioning an object applied to a forklift, and relates to the field of warehouse logistics. One embodiment of the method comprises: scanning a target object by using scanning equipment in a forklift, and determining coordinate values of each scanned point in the target object in a preset coordinate system according to data fed back by the scanning equipment; and acquiring coordinate values of the forklift in a preset coordinate system, and determining the offset of the target object by combining the coordinate values of the scanned points. This embodiment can accomplish the location to the tray at spatial position, and then according to this location, guides fork truck's fork accuracy to get into the jacking recess of tray lower surface, has the advantage of location accuracy, difficult collision and damage tray/goods, and then improves the accuracy and the security of carrying the goods operation.
Description
Technical Field
The invention relates to the field of warehouse logistics, in particular to a method and a device for positioning an object, which are applied to a forklift.
Background
The goods shelves of general warehouse usually have 2 ~ 3 meters height, and high-order fork truck will go to the high-order goods position and carry goods. But fork truck can take place great automobile body left and right direction's lateral error when drawing high-rise goods, can lead to fork truck's jacking device can not accurately get into the jacking recess of goods tray lower surface, can not accurately draw the condition of goods.
The current common high-position forklift positioning mode is that the position of a pallet is positioned mostly through the feedback of machine vision, so that the forklift operation is completed.
However, in the process of implementing the invention, the inventor finds that the prior art has at least the following problems:
1) the existing positioning mode is mainly suitable for a tray with obvious characteristics, the outline range of the tray can be roughly determined, but the positioning is inaccurate for the tray with unobvious characteristics;
2) the use has limitations, the machine vision is greatly influenced by ambient light, and the quality of the collected video may be low in some severe weather, such as cloudy days, rainy days and the like;
3) the amount of data and the amount of calculation are relatively large (data amount: panoramic video is generally 2048 × 1024 × 20fps, occupies a large space, consumes a large amount of memory and hard disks, and is relatively expensive.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for positioning an object, which are at least capable of solving the problems in the prior art that positioning of a forklift is greatly affected by the environment and the processing procedure is complicated.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a method for positioning an object applied to a forklift, including:
scanning a target object by utilizing scanning equipment in a forklift, and determining coordinate values of scanned points in the target object in a preset coordinate system according to data fed back by the scanning equipment;
and acquiring coordinate values of the forklift in the preset coordinate system, and determining the offset of the target object by combining the coordinate values of the scanned points.
Optionally, the scanning the target object by using the scanning device in the forklift includes:
determining a triggering distance for triggering the scanning equipment according to the height of the target object and the vertical moving speed of a fork in the forklift;
and vertically moving the fork, and triggering the scanning operation of the scanning device on the target object when the moving distance of the fork is integral multiple of the triggering distance.
Optionally, before determining coordinate values of the scanned points in the target object in a predetermined coordinate system according to the data fed back by the scanning device, the method further includes:
acquiring coordinate values of the target object in the preset coordinate system, and determining the distance between the scanning equipment and the target object;
and determining the scanning range of the scanning equipment to the target object according to the determined distance and the volume parameter of the target object, and rejecting data beyond the scanning range.
Optionally, the scanning device is a line scanning device;
the determining coordinate values of the points scanned in the target object in a predetermined coordinate system according to the data fed back by the scanning device includes:
determining the distance between each current linear scanning point in the target object and the scanning equipment according to the data fed back by the linear scanning equipment;
analyzing the distance between each adjacent point to determine a support column of the target object, and an edge point and a corresponding coordinate value on the current line scan in the support column;
the obtaining of the coordinate values of the forklift in the predetermined coordinate system and the determining of the offset of the target object by combining the coordinate values of the scanned points includes:
and determining the vertical distance between the edge points, combining the volume parameter of the target object and the coordinate value of the forklift to obtain an included angle between the target object and the forklift, and taking the included angle as the inclination angle of the target object.
Optionally, the offset further includes a horizontal offset;
the obtaining of the coordinate values of the forklift in the predetermined coordinate system and the determining of the offset of the target object by combining the coordinate values of the scanned points further include:
determining a line scanning central point and a corresponding coordinate value of the target object on the current line scanning according to the coordinate value of the edge point;
and comparing the line scanning central point with the horizontal coordinate value of the forklift, and determining the horizontal offset and the corresponding offset direction of the target object.
Optionally, the offset further includes a vertical offset;
the obtaining of the coordinate values of the forklift in the predetermined coordinate system and the determining of the offset of the target object by combining the coordinate values of the scanned points further include:
analyzing coordinate values of the scanning center point of the target object on each line to determine the center point of the target object and corresponding coordinate values;
and acquiring the current height of the fork of the forklift, and determining the vertical offset of the fork of the forklift from the central point by combining the vertical coordinate value of the central point.
In order to achieve the above object, according to another aspect of the embodiments of the present invention, there is provided a positioning object device applied to a forklift, including:
the scanning module is used for scanning a target object by using scanning equipment in a forklift, and determining coordinate values of each scanned point in the target object in a preset coordinate system according to data fed back by the scanning equipment;
and the determining module is used for acquiring coordinate values of the forklift in the preset coordinate system and determining the offset of the target object by combining the coordinate values of the scanned points.
Optionally, the scanning module is configured to: determining a triggering distance for triggering the scanning equipment according to the height of the target object and the vertical moving speed of a fork in the forklift; and vertically moving the fork, and triggering the scanning operation of the scanning device on the target object when the moving distance of the fork is integral multiple of the triggering distance.
Optionally, the scanning module is configured to: acquiring coordinate values of the target object in the preset coordinate system, and determining the distance between the scanning equipment and the target object; and determining the scanning range of the scanning equipment to the target object according to the determined distance and the volume parameter of the target object, and rejecting data beyond the scanning range.
Optionally, the scanning device is a line scanning device;
the scanning module is configured to: determining the distance between each current linear scanning point in the target object and the scanning equipment according to the data fed back by the linear scanning equipment; analyzing the distance between each adjacent point to determine a support column of the target object, and an edge point and a corresponding coordinate value on the current line scan in the support column;
the determining module is configured to: and determining the vertical distance between the edge points, combining the volume parameter of the target object and the coordinate value of the forklift to obtain an included angle between the target object and the forklift, and taking the included angle as the inclination angle of the target object.
Optionally, the offset further includes a horizontal offset;
the determining module is further configured to: determining a line scanning central point and a corresponding coordinate value of the target object on the current line scanning according to the coordinate value of the edge point; and comparing the line scanning central point with the horizontal coordinate value of the forklift, and determining the horizontal offset and the corresponding offset direction of the target object.
Optionally, the offset further includes a vertical offset;
the determining module is configured to:
analyzing coordinate values of the scanning center point of the target object on each line to determine the center point of the target object and corresponding coordinate values;
and acquiring the current height of the fork of the forklift, and determining the vertical offset of the fork of the forklift from the central point by combining the vertical coordinate value of the central point.
To achieve the above object, according to still another aspect of the embodiments of the present invention, there is provided a positioning object electronic apparatus applied to a forklift.
The electronic device of the embodiment of the invention comprises: one or more processors; a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement any of the above-described methods for positioning objects for a forklift.
To achieve the above object, according to a further aspect of the embodiments of the present invention, there is provided a computer readable medium having a computer program stored thereon, the program, when executed by a processor, implementing any one of the above-mentioned methods for positioning objects applied to a forklift.
According to the scheme provided by the invention, one embodiment of the invention has the following advantages or beneficial effects: the spatial position of target tray can be accurately positioned, and the offset of the current fork state of the forklift is obtained, so that the forklift is not easy to collide and damage when goods are taken and placed, and the accuracy of forklift operation is improved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic main flow chart of an object positioning method applied to a forklift according to an embodiment of the present invention;
FIG. 2 is a schematic view of a tray structure;
FIG. 3 is a schematic illustration of calculating a tray horizontal offset;
FIG. 4 is a schematic illustration of calculating a tray tilt angle;
fig. 5 is a schematic diagram of calculating a fork position of a forklift.
Fig. 6 is a schematic block diagram of a positioning object device applied to a forklift according to an embodiment of the present invention;
FIG. 7 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 8 is a schematic block diagram of a computer system suitable for use with a mobile device or server implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
It should be noted that the embodiment of the present invention is applicable to all forklifts, and the present invention is mainly described by taking a high-position forklift as an example to explain a positioning algorithm applied to the forklift.
The object of the invention is mainly a pallet. The pallet is designed and produced by combining the use characteristics of the forklift, mainly refers to a pallet with pillars at the bottom, and the pallet with three pillars at the bottom is taken as an example for explanation.
Referring to fig. 1, a main flowchart of a method for positioning an object applied to a forklift according to an embodiment of the present invention is shown, including the following steps:
s101: scanning a target object by utilizing scanning equipment in a forklift, and determining coordinate values of scanned points in the target object in a preset coordinate system according to data fed back by the scanning equipment;
s102: and acquiring coordinate values of the forklift in the preset coordinate system, and determining the offset of the target object by combining the coordinate values of the scanned points.
In the above embodiment, for step S101, since the laser has the advantages of strong anti-interference capability, good real-time processing performance, and low price, the scanning device of the present invention mainly refers to a laser line scanner. The line scanner may be mounted in a central position of the forklift, for example, in a central position of both forks.
Since the laser is scanned as a laser line, only one line can be scanned at a time, and the front view of the tray is a rectangular/square surface, multiple scanning and line analysis are required. To locate the tray as accurately as possible, the laser line is moved from bottom to top to cover the surface as much as possible.
For the determination of the linear distance between each point in the tray and the line scanner, it can be:
the method comprises the following steps: determining the triggering distance of the trigger line scanner according to the height of the tray and the vertical moving speed of a pallet fork in the forklift;
step two: and vertically moving the fork, and triggering the scanning operation of the linear scanner on the tray when the moving distance of the fork is integral multiple of the triggering distance.
The fork of the forklift moves upwards in the vertical direction from the lowest position, and triggers the line scanner to scan the pallet once every time the fork moves for a certain distance (for example, 5mm), so that the distance from the point on the line scanning laser on one group of pallets to the line scanner is obtained. Therefore, the scanning lines obtained each time are parallel as much as possible, and the situation that point data in the scanning lines are repeated is avoided.
Further, the triggering distance can be determined according to the height of the pallet and the moving speed of the pallet fork in the vertical direction. For example, if the tray height is 100mm and the fork movement speed is 20mm/s, the trigger distance is 100/20 × 1-5 mm.
Further, although the line scan is a line, it is actually composed of a plurality of points, for example, 181 points. The line scanner scans the tray at a fixed angle, for example 60 degrees, so that as the position of the line scanner changes, the coordinates of points at different positions in the tray can be scanned.
The line scanner in the forklift needs to move to the highest position of the pallet to scan the laser line to the upper edge of the pallet. Generally, the line scanner scans the lower surface of the tray as many times as the upper surface. If the height of the pallet is 100mm, enough data (20 groups of data are obtained by moving the pallet by 5mm, 10 groups of data record upper surface line scanning data, and the other 10 groups of data record lower surface line scanning data) are needed to calculate and correct the distance and angle values of the forklift from the pallet.
Since the laser scan is returned upon encountering an obstacle, there may be some unusable of the acquired data, requiring a certain screening operation to extract valid data:
the method comprises the following steps: acquiring coordinate values of the tray in a preset coordinate system, and determining the distance between the line scanner and the tray;
step two: and determining the scanning range of the tray by the line scanner according to the determined space and the volume parameter of the tray, and rejecting data beyond the scanning range.
Further, the scan distance of each line scanner may be different, and may be determined based on the approximate distance of the tray from the vehicle/line scanner, in combination with tray parameters, e.g., scan distance 1000mm, and tray parameters of 4 x 100mm, so the actual scan range should be [900,1100 ].
In addition, most of the existing forklifts have a positioning function. For warehouse picking, it is first determined where the target pallet/target item is located, e.g., on which shelf or in which area. Then, according to self-navigation, the vehicle is parked at an approximate position in front of the tray (error is large, but the approximate position can be determined).
The "front" can be related to the maximum scanning distance of the line scanner and also related to the height of the shelf, for example, within 1m to 1.5 m. Typically between 800mm and 2000mm, if the returned distance value (i.e. the distance between the points on the tray and the line in the laser scanner) is not within this range, it is considered not to be a point on the tray, and may hit a distant obstacle, so as to filter the data (i.e. noise) not within this range, and obtain "the line valid data"; for example, 100 sets of data are obtained originally, and only the sorted 20-50 data are available after screening.
The coordinate system in the invention can be a fixed coordinate system, namely a coordinate system which is common to all forklifts and pallets; a coordinate system can also be established by taking a linear scanner of the forklift as the origin of coordinates or taking a forklift base as the origin of coordinates. For example, the fork direction of the forklift is the Y axis, the vertical lifting direction of the fork is the Z axis, and the front view direction of the pallet is the X axis.
However, when the pallet is picked up by the forklift, the pallet is inserted to the maximum depth where the pallet can be deeply inserted, but the parameter is not considered in the positioning of the forklift, so that the y-axis direction parameter is not considered in the invention. The data acquired for each line sweep consists primarily of vertical distance z and horizontal distance x.
The data acquired for each line scan is represented as the linear distance between each point of the line scan in the tray and the center point of the line scanner, and can be decomposed into horizontal and vertical directions. And then combining the positions of the line scanner in the coordinate system to obtain the coordinates of the points of the line scanner in the coordinate system.
The coordinates of each point of the line scan may be stored in two-dimensional arrays X [ i, j ] and Z [ i, j ], respectively, to construct a database, see, for example, the previous examples: 1< i is less than or equal to 20, and 1< j is less than or equal to 181.
Besides, the system can also comprise an array D [ i ] for recording the encoder value of the forklift and is used for recording the advancing height of the fork in the current forklift. The distance moved by the forklift in the z direction cannot be known by the linear scanner and can be obtained only by a height sensor and the like. The lowest point and the highest point of the pallet in the z direction can be obtained by comparing the data, so that the encoder value in the z direction is informed to the forklift. After one scan is finished, the forklift controller sends a finished signal and starts data processing.
For step S102, in order to facilitate the fork to pick up the pallet, the pallet design has certain characteristics, the bottom is provided with pillars, and gaps are formed between the pillars. For a line scanner scanning tray, the laser strikes the tray post and at the tray void location, the returned data will be different.
In addition, the data of each point is also different in consideration of the possibility that the surface of the tray may be uneven and the angle of previous storage may not be correct.
Referring to fig. 2, the line scanner scans the tray to obtain data of a plurality of horizontal lines in the tray. { LL, LF, ML, MF, RL, RF } corresponds to six edge target points and to three different struts, respectively, LL, LF to the left strut, ML, MF to the middle strut, RL, RF to the right strut.
The returned values are compared, respectively, and the connected points having a difference within a certain range are determined as the same strut, for example, ± 20mm, and if the difference is within ± 20mm, it is regarded as a plane. For example, of the 181 points of each horizontal line, there are usually 8-9 points located in the pillar, and the pillar is usually spaced from the laser scanning center by a smaller distance than the non-pillar region, so that the edge points on the pillar can be determined first. After the edge points are determined, if 8 continuous points exist, the post is considered.
Through comparison of ith data in the two-dimensional array, left, middle and right pillar information can be found, and accordingly six edge target points (LL, LF, ML, MF, RL and RF) are found.
When some trays are stored, the storage deviation may exist, so that the inclined angle for placing the trays needs to be determined.
Referring to fig. 3, although the data of each row of the line scanning tray is different, the inclination angles are the same, specifically:
the method comprises the following steps: analyzing the difference between adjacent points of the current line scanning, and determining a support column of the tray and edge points on the support column when the distance exceeds a preset value;
step two: determining the coordinate value of the edge point in the preset coordinate system according to the distance between the edge point and the line scanner;
step three: and determining the vertical distance between the edge points, and combining the volume parameters of the tray to obtain the inclination angle of the tray and the forklift.
Taking the effective data in the a-th row as an example, β is the angle value to be obtained. And projecting and intersecting the final point LL of the edge point with the point L to obtain the vertical distance Z [ a, LL ] of the final point LL, projecting and intersecting the initial point RF of the edge point with the point F to obtain the vertical distance Z [ a, RF ] of the initial point RF.
Constructing a right triangle (RF, O, LL) with opposing sides (RF, O) each having a length of Z [ a, RF ] -Z [ a, LL ], and a tray fixed side length L1, whereby the tray inclination angle relative to the cart is:
CPOS[a]＝arcsin[(Z[a,RF]-Z[a,LL])/L1]
the angle can also be regarded as the angle CPOS between the pallet and the XOZ plane in which the forklift is located.
Similarly, one measurement may not be accurate, and to improve the measurement accuracy, the results of multiple measurements may be averaged, and the final CPOS is (CPOS [1] + … + CPOS [ a ] + … + CPOS [ m ])/3.
Further, the vertical spacing and horizontal spacing between the edge points of the struts, and thus the angle of inclination, may also be determined, e.g., [ vertical spacing (RF-LL) ]/[ horizontal spacing (RF-LL) ].
In addition to the offset angle of the pallet, it is also necessary to measure its horizontal offset from the forklift, as shown in particular in fig. 4:
the method comprises the following steps: according to the coordinate values of the edge points, determining a line scanning central point and corresponding coordinate values of the tray on the current line scanning;
step two: and comparing the line scanning central point with the horizontal coordinate value of the forklift to determine the horizontal offset and the corresponding offset direction of the tray.
For step one, the current line scan center point is determined according to the coordinates of the edge point on the center pillar, in addition to the coordinate values of the edge point at the edge, for example, MM ═ RF-LL)/2+ LL.
Similarly, taking the valid data in row a as an example, the horizontal distance from the scanner center point O at the end of the middle strut is X [ a, ML ], the horizontal distance from the center point at the start of the middle strut is X [ a, MF ], and the offset of the center strut in the horizontal direction from the scanner center point O at the center point MM of the row is:
XPOS＝X[a,MM]＝(MF-ML)/2+ML。
the single row results are more in error, and to improve the calculation accuracy, it is also possible to measure and average the results several times, and the final XPOS is (XPOS [1] + … + XPOS [ a ] + … + XPOS [ n ])/3.
In addition to this, it is also necessary to determine the fork position of the fork truck with respect to the pallet, as shown in particular in fig. 5.
And recording the height of the fork in the current forklift according to the encoder value of the array D [ i ], wherein the height is D [1] to D [ n ]. Assuming that the intermediate position point a is (n-1)/2, the position where the forklift forks is: ZPOS ═ D [ (n-1)/2 ]. This position difference is compared to the tray height, which is a fixed value and does not need to be calculated. For example, the effective data is 20-50, and the intermediate position point obtained by the method is D [35 ].
After the deviation between the current tray and the forklift is determined, sending coordinate values in the calculation result, including the position deviation XPOS of the tray in the X direction, the position ZPOS of the tray in the Z direction and the included angle between the tray and the XOZ plane as CPOS, to a forklift controller. The forklift achieves the best posture when the pallet is forked by adjusting the posture of the forklift.
The method provided by the embodiment can complete the positioning of the pallet at the spatial position, and then guide the fork of the forklift to accurately enter the jacking groove on the lower surface of the pallet according to the positioning, has the advantages of accurate positioning, difficult collision and damage to the pallet/goods, and further improves the accuracy and the safety of the goods picking operation.
Referring to fig. 6, a schematic diagram of main modules of an object positioning apparatus 600 applied to a forklift according to an embodiment of the present invention is shown, including:
the scanning module 601 is configured to scan a target object by using a scanning device in a forklift, and determine coordinate values of scanned points in the target object in a predetermined coordinate system according to data fed back by the scanning device;
a determining module 602, configured to obtain coordinate values of the forklift in the predetermined coordinate system, and determine, by combining the coordinate values of the scanned points, an offset of the target object.
In the implementation apparatus of the present invention, the scanning module 601 is configured to: determining a triggering distance for triggering the scanning equipment according to the height of the target object and the vertical moving speed of a fork in the forklift; and vertically moving the fork, and triggering the scanning operation of the scanning device on the target object when the moving distance of the fork is integral multiple of the triggering distance.
In the implementation apparatus of the present invention, the scanning module 601 is configured to: acquiring coordinate values of the target object in the preset coordinate system, and determining the distance between the scanning equipment and the target object; and determining the scanning range of the scanning equipment to the target object according to the determined distance and the volume parameter of the target object, and rejecting data beyond the scanning range.
In the implementation device of the invention, the scanning equipment is line scanning equipment;
the scanning module 601 is configured to: determining the distance between each current linear scanning point in the target object and the scanning equipment according to the data fed back by the linear scanning equipment; analyzing the distance between each adjacent point to determine a support column of the target object, and an edge point and a corresponding coordinate value on the current line scan in the support column;
the determining module 602 is configured to: and determining the vertical distance between the edge points, combining the volume parameter of the target object and the coordinate value of the forklift to obtain an included angle between the target object and the forklift, and taking the included angle as the inclination angle of the target object.
In the implementation device of the invention, the offset further comprises a horizontal offset;
the determining module 602 is further configured to: determining a line scanning central point and a corresponding coordinate value of the target object on the current line scanning according to the coordinate value of the edge point; and comparing the line scanning central point with the horizontal coordinate value of the forklift, and determining the horizontal offset and the corresponding offset direction of the target object.
In the device for implementing the invention, the offset also comprises a vertical offset;
the determining module is configured to: analyzing coordinate values of the scanning center point of the target object on each line to determine the center point of the target object and corresponding coordinate values; and acquiring the current height of the fork of the forklift, and determining the vertical offset of the fork of the forklift from the central point by combining the vertical coordinate value of the central point.
In addition, the specific implementation of the positioning target device applied to the forklift in the embodiment of the present invention has been described in detail in the above positioning target method applied to the forklift, and therefore, the repeated description is omitted here.
Fig. 7 shows an exemplary system architecture 700 of a method for locating an object applied to a forklift or a device for locating an object applied to a forklift to which an embodiment of the present invention can be applied.
As shown in fig. 7, the system architecture 700 may include terminal devices 701, 702, 703, a network 704 and a server 705 (by way of example only). The network 704 serves to provide a medium for communication links between the terminal devices 701, 702, 703 and the server 705. Network 704 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 701, 702, 703 to interact with a server 705 over a network 704, to receive or send messages or the like. The terminal devices 701, 702, 703 may have installed thereon various communication client applications, such as a shopping-like application, a web browser application, a search-like application, an instant messaging tool, a mailbox client, social platform software, etc. (by way of example only).
The terminal devices 701, 702, 703 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 705 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 701, 702, 703. The backend management server may analyze and perform other processing on the received data such as the product information query request, and feed back a processing result (for example, target push information, product information — just an example) to the terminal device.
It should be noted that the positioning object method applied to the forklift provided in the embodiment of the present invention is generally executed by the server 705, and accordingly, the positioning object device applied to the forklift is generally installed in the server 705.
It should be understood that the number of terminal devices, networks, and servers in fig. 7 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 8, shown is a block diagram of a computer system 800 suitable for use with a terminal device implementing an embodiment of the present invention. The terminal device shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 8, the computer system 800 includes a Central Processing Unit (CPU)801 that can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage section 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data necessary for the operation of the system 800 are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, a mouse, and the like; an output section 807 including a signal such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN card, a modem, or the like. The communication section 809 performs communication processing via a network such as the internet. A drive 810 is also connected to the I/O interface 805 as necessary. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as necessary, so that a computer program read out therefrom is mounted on the storage section 808 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 809 and/or installed from the removable medium 811. The computer program executes the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 801.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. 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 of the computer readable storage medium may include, but are not limited to: 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 present invention, 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. In the present invention, however, 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, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a scanning module, a determining module. The names of these modules do not in some cases constitute a limitation on the module itself, and for example, a scanning module may also be described as a "module in which a scanning device scans a target object".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise:
scanning a target object by utilizing scanning equipment in a forklift, and determining coordinate values of scanned points in the target object in a preset coordinate system according to data fed back by the scanning equipment;
and acquiring coordinate values of the forklift in the preset coordinate system, and determining the offset of the target object by combining the coordinate values of the scanned points.
According to the technical scheme of the embodiment of the invention, the positioning of the pallet at the spatial position can be completed, and then the fork of the forklift is guided to accurately enter the jacking groove on the lower surface of the pallet according to the positioning, so that the pallet/goods lifting device has the advantages of accurate positioning, difficulty in collision and damage of the pallet/goods, and the accuracy and the safety of the goods lifting operation are improved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method for positioning an object applied to a forklift, comprising:
scanning a target object by utilizing scanning equipment in a forklift, and determining coordinate values of scanned points in the target object in a preset coordinate system according to data fed back by the scanning equipment; wherein the scanning device is a line scanning device;
analyzing the distance between every two adjacent points, and determining the connected points with the distance within a certain range as the same support column so as to determine the support column of the target object, the edge point positioned on the current line sweep in the support column and the corresponding coordinate value;
determining the vertical distance between the edge points, and obtaining the inclination angle of the target object relative to the forklift by combining the volume parameter of the target object and the coordinate value of the forklift;
determining a line scanning central point and a corresponding coordinate value of the target object on the current line scanning according to the coordinate value of the edge point; comparing the linear scanning central point with the horizontal coordinate value of the forklift, and determining the horizontal offset and the corresponding offset direction of the target object;
and adjusting the posture of the forklift based on the inclination angle, the horizontal offset and the offset direction.
2. The method of claim 1, wherein scanning the target object with a scanning device in a forklift comprises:
determining a triggering distance for triggering the scanning equipment according to the height of the target object and the vertical moving speed of a fork in the forklift;
and vertically moving the fork, and triggering the scanning operation of the scanning device on the target object when the moving distance of the fork is integral multiple of the triggering distance.
3. The method according to claim 1, wherein before determining the coordinate values of the scanned points in the target object in the predetermined coordinate system according to the data fed back by the scanning device, the method further comprises:
acquiring coordinate values of the target object in the preset coordinate system, and determining the distance between the scanning equipment and the target object;
and determining the scanning range of the scanning equipment to the target object according to the determined distance and the volume parameter of the target object, and rejecting data beyond the scanning range.
4. The method of claim 1, wherein determining coordinate values of the scanned points in the target object in a predetermined coordinate system comprises:
and determining the distance between each point of the current line scanning in the target object and the scanning equipment, and combining the coordinate values of the scanning equipment in a preset coordinate system to obtain the coordinate values of each scanned point in the preset coordinate system.
5. The method of claim 1, further comprising:
analyzing coordinate values of the scanning center point of the target object on each line to determine the center point of the target object and corresponding coordinate values;
and acquiring the current height of the fork of the forklift, and determining the vertical offset of the fork of the forklift from the central point by combining the vertical coordinate value of the central point.
6. A positioning object device applied to a forklift, comprising:
the scanning module is used for scanning a target object by using scanning equipment in a forklift, and determining coordinate values of each scanned point in the target object in a preset coordinate system according to data fed back by the scanning equipment; wherein the scanning device is a line scanning device;
analyzing the distance between every two adjacent points, and determining the connected points with the distance within a certain range as the same support column so as to determine the support column of the target object, the edge point positioned on the current line sweep in the support column and the corresponding coordinate value;
the determining module is used for determining the vertical distance between the edge points and obtaining the inclination angle of the target object relative to the forklift by combining the volume parameter of the target object and the coordinate value of the forklift;
determining a line scanning central point and a corresponding coordinate value of the target object on the current line scanning according to the coordinate value of the edge point; comparing the linear scanning central point with the horizontal coordinate value of the forklift, and determining the horizontal offset and the corresponding offset direction of the target object;
and adjusting the posture of the forklift based on the inclination angle, the horizontal offset and the offset direction.
7. The apparatus of claim 6, wherein the scanning module is configured to:
determining a triggering distance for triggering the scanning equipment according to the height of the target object and the vertical moving speed of a fork in the forklift;
and vertically moving the fork, and triggering the scanning operation of the scanning device on the target object when the moving distance of the fork is integral multiple of the triggering distance.
8. The apparatus of claim 6, wherein the scanning module is configured to:
acquiring coordinate values of the target object in the preset coordinate system, and determining the distance between the scanning equipment and the target object;
and determining the scanning range of the scanning equipment to the target object according to the determined distance and the volume parameter of the target object, and rejecting data beyond the scanning range.
9. The apparatus of claim 6, wherein the scanning module is configured to:
and determining the distance between each point of the current line scanning in the target object and the scanning equipment, and combining the coordinate values of the scanning equipment in a preset coordinate system to obtain the coordinate values of each scanned point in the preset coordinate system.
10. The apparatus of claim 6, wherein the offset further comprises a vertical offset;
the determining module is configured to:
analyzing coordinate values of the scanning center point of the target object on each line to determine the center point of the target object and corresponding coordinate values;
and acquiring the current height of the fork of the forklift, and determining the vertical offset of the fork of the forklift from the central point by combining the vertical coordinate value of the central point.
11. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
12. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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| CN105480903A (en) * | 2015-11-13 | 2016-04-13 | 上海诺力智能科技有限公司 | Positioning method of pallet fork |
| CN207903264U (en) * | 2017-01-16 | 2018-09-25 | 浙江国自机器人技术有限公司 | A kind of transport device with freight detection function |
| CN107390679B (en) * | 2017-06-13 | 2020-05-05 | 合肥中导机器人科技有限公司 | Storage device and laser navigation forklift |
| CN108502810B (en) * | 2018-04-13 | 2020-11-24 | 深圳市有光图像科技有限公司 | Method for identifying pallet by forklift and forklift |
| CN108394840A (en) * | 2018-05-31 | 2018-08-14 | 广东电网有限责任公司 | Fork truck with aligning device |
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