CN113256713B - Pallet position identification method and device, electronic equipment and storage medium - Google Patents
Pallet position identification method and device, electronic equipment and storage medium Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
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Abstract
The invention discloses a pallet position identification method, a pallet position identification device, electronic equipment and a storage medium, which relate to the field of image identification and comprise the following steps: fork truck removes to the pallet along the way, and fork truck is at the in-process that removes: collecting a pallet image at the initial moment of identification; generating first position data of the pallet relative to the forklift at the identification starting moment; acquiring second position data of the forklift at the identification finishing moment; acquiring a sequence, wherein the sequence comprises a plurality of data groups; acquiring at least one data group from the sequence according to the identification starting moment; and calculating the pallet position data according to the first position data, the second position data, the identification starting time, the identification finishing time and at least one data group, so that the efficiency and the accuracy of identifying the pallet position are higher.
Description
Technical Field
The present invention relates to the field of image recognition, and in particular, to a pallet position recognition method, apparatus, electronic device, and storage medium.
Background
With the development of technology, the application of AGVs (automatic guided vehicles) is more and more widespread. The forklift is provided with the pair of parallel fork teeth, is widely applied to pallet carrying in a warehouse, cargo carrying in a port or building material carrying in a construction site, is a core part of an AGV navigation technology of the forklift in terms of how to realize accurate butt joint with the pallet, and along with the increase of the application of the AGV of the forklift, the identification of the position of the pallet, the speed of butt joint of the pallet and the precision requirement are also continuously improved.
The existing common method for butting the pallets of the forklift AGV is divided into two types, namely recognition and non-recognition, the non-recognition method usually requires that the pallets are placed according to a preset position, the forklift AGV runs according to a preset path, and the pallets are butted with the pallets when reaching the end point of the path, the method has high requirement on the placement error of the pallets, and the forklift AGV cannot accurately align the pallets when the pallets are placed and have large position or angle deviation with the preset value, so that the butt joint failure is caused; the method for identifying the position of the pallet is characterized in that a pallet identification algorithm is used for calculating the relative position and posture of the pallet and the AGV, however, due to the fact that the pallet identification algorithm is delayed, the AGV usually moves to a preset preparation point to stop moving, then the pallet is started to identify to obtain the position of the pallet relative to the AGV, and finally a path is calculated and the butt joint with the pallet is completed.
Disclosure of Invention
The invention provides a pallet position identification method, a pallet position identification device, electronic equipment and a storage medium, which are used for at least solving the technical problems in the prior art.
The invention provides a pallet position identification method on the one hand, which comprises the following steps:
calculating the current path of the pallet from the forklift to the current position data of the pallet according to the current position data of the forklift and the current position data of the pallet, so that the forklift moves to the pallet along the current path, wherein the forklift moves in the process of:
collecting a pallet image at the initial moment of identification;
generating first position data of the pallet relative to the forklift at the identification starting moment according to the pallet image, wherein the moment of generating the first position data is an identification finishing moment;
acquiring second position data of the forklift at the identification finishing moment;
acquiring a sequence for representing the moving track of the forklift, wherein the sequence comprises a plurality of data sets, each data set comprises the time of generation of the data set, forklift position data corresponding to the time and forklift speed data, and the data sets are arranged in the sequence according to the time of generation of the data sets;
acquiring at least one data group from the sequence according to the identification starting moment;
and calculating the position data of the pallet according to the first position data, the second position data, the identification starting time, the identification finishing time and the at least one data group.
The initial value of the current position data of the forklift is preset forklift position data, and the initial value of the current position data of the pallet is preset pallet position data.
After calculating the position data of the pallet, the method further comprises:
and updating the current position data of the forklift into the second position data, updating the current position data of the pallet into the calculated pallet position data, and executing the operation of calculating the current path of the forklift to the pallet.
Wherein, when the calculating the current path of the forklift to the pallet, the method further comprises:
and selecting an identification termination point in the path, wherein the distance between the identification termination point and the current position of the pallet is greater than or equal to a preset length.
Wherein, the method also comprises:
and when the forklift moves to the identified termination point in the current path, the forklift moves by taking the current path as a final path until the forklift moves to the pallet position in the final path, and the docking with the pallet is completed.
Wherein the obtaining at least one data set from the sequence according to the identification start time comprises:
acquiring a first data group to which a first time adjacent to the identification starting time belongs and a second data group to which a second time belongs from the sequence, wherein the first time is earlier than the identification starting time, and the second time is later than the identification starting time;
or acquiring a third data group to which a third time identical to the identification starting time belongs from the sequence.
Calculating the position data of the stack plate according to the first position data, the second position data, the identification starting time, the identification ending time, the first data group and the second data group, wherein the method comprises the following steps:
calculating third position data of the forklift at the identification starting moment according to the following formula
：
The above-mentioned
As forklift position data in the first data set, the
Is the fork speed data in the first data set, said
Is the fork speed data in the second data set, said
To identify the starting moment, the
Is the time in the first data set;
calculating pallet position data according to the following formula
：
The above-mentioned
Is the first location data.
Wherein, calculating the position data of the pallet according to the first position data, the second position data, the identification starting time, the identification ending time and the third data group comprises:
calculating pallet position data according to the following formula
：
The above-mentioned
As forklift position data in the third data set, the
Is the first location data.
Another aspect of the present invention provides a pallet position identifying apparatus, comprising:
a calculation module for calculating the current path of the pallet from the forklift to the current path of the pallet according to the current position data of the forklift and the current position data of the pallet, so that the forklift follows the current path to the pallet moves, and the forklift moves in the process of moving:
the acquisition module is used for acquiring the pallet image at the identification starting moment;
the identification module is used for generating first position data of the pallet relative to the forklift at the identification starting moment according to the pallet image, and the moment of generating the first position data is the identification finishing moment;
the positioning module is used for acquiring second position data of the forklift at the identification finishing moment;
the positioning module is further used for acquiring a sequence for representing the moving track of the forklift, the sequence comprises a plurality of data sets, each data set comprises the time of generation of the data set, forklift position data and forklift speed data corresponding to the time, and the data sets are arranged in the sequence according to the time of generation of the data sets;
the computing module is further configured to obtain at least one data group from the sequence according to the identification start time;
the calculation module is further configured to calculate the position data of the stack board according to the first position data, the second position data, the identification start time, the identification end time, and the at least one data group.
Yet another aspect of the present invention provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus;
the processor, the communication interface and the memory complete mutual communication through a communication bus; a memory for storing a computer program;
the processor is used for realizing the pallet position identification method when executing the program stored in the memory.
In yet another aspect, the present invention provides a computer readable storage medium having a computer program stored therein for executing the pallet position identification method of the present invention.
In the method, the data of the pallet relative to the position of the forklift is calculated through the acquired pallet image, the data group which belongs to two moments adjacent to the identification starting moment or the data group which belongs to one moment same as the identification starting moment is obtained from the forklift moving track sequence by utilizing the identification starting moment, then the position data of the forklift is calculated through the data in the data group, and the accurate pallet position data is calculated according to the forklift position data and the data of the pallet relative to the position of the forklift, so that the forklift can accurately identify the pallet position in the moving process and improve the efficiency of the forklift for identifying the pallet position, and the pallet position is identified for multiple times in the moving process of the forklift, thereby avoiding the final butt joint failure caused by the large single identification error, and the existing pallet position identification method needs the forklift to be decelerated to stop, the method for identifying the pallet position ensures that the forklift finishes identifying the pallet position in moving, so that the time for finishing the butt joint with the pallet at each time is only 5 seconds on average, and a large amount of time is saved for the forklift to finish the butt joint with the pallet.
Drawings
Fig. 1 is a schematic flow chart illustrating a pallet position identification method according to an embodiment of the present invention;
FIG. 2 shows a sequence diagram provided by an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a specific flow chart of a pallet position identification method according to an embodiment of the present invention;
fig. 4 illustrates a schematic diagram of paths generated according to preset truck positions and preset pallet positions provided by an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a current path generated according to a current position of the forklift and a current position of the pallet according to an embodiment of the present invention;
fig. 6 shows a schematic structural diagram of a pallet position identification device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to accurately identify the pallet position and improve the efficiency and precision of the docking of the forklift and the pallet, as shown in fig. 1, an embodiment of the present invention provides a pallet position identification method, including:
step 101, calculating a current path from the forklift to the pallet according to the current position data of the forklift and the current position data of the pallet, so that the forklift moves to the pallet along the current path, wherein the forklift moves in the process of:
and collecting the pallet image at the identification starting moment.
Calculating a path from the forklift to the pallet according to the current position of the forklift and the current position of the pallet, and enabling the forklift to move along the path;
and collecting the pallet image at the initial identification time.
And 102, generating first position data of the pallet relative to the forklift at the identification starting moment according to the pallet image, wherein the moment of generating the first position data is the identification finishing moment.
The method comprises the steps of generating first position data of a pallet relative to a forklift at an identification starting moment according to a pallet image, wherein the pallet image is acquired at the identification starting moment, so that the first position data generated according to the pallet image is position data of the forklift relative to the identification starting moment, and certain time is needed for generating the first position data, so that the moment of generating the first position data is an identification finishing moment, the first position data is based on a vehicle body reference system of the forklift, namely the original point of the reference system is the position of the forklift when the pallet image is acquired, the data represents the quantitative relation of the position of the pallet relative to the forklift when the pallet image is acquired, and the data comprises 3 components:
，
and
，
showing the abscissa of the pallet in the vehicle body reference system,
indicating the longitudinal coordinate of the pallet in the vehicle body reference system,
indicating the orientation of the pallet, in an embodiment of the invention only the first position data, i.e. the relative position data of the pallet, is based on the position data of the body reference frame of the forklift, and the remaining position data are based on the position data of the pre-created map reference frame, i.e. absolute position data.
And 103, acquiring second position data of the forklift at the identification finishing time.
The second position data of the forklift is acquired at the recognition completion time, and therefore the second position data is the position data of the forklift at the recognition completion time.
And 104, acquiring a sequence for representing the movement track of the forklift, wherein the sequence comprises a plurality of data sets, each data set comprises the time of generation of the data set, forklift position data corresponding to the time and forklift speed data, and the data sets are arranged in the sequence according to the time of generation of the data sets.
The method comprises the steps of obtaining a sequence for representing the moving track of the forklift, wherein the sequence is that position data and speed data of the forklift are recorded through a 2D laser point cloud and a wheel type odometer at preset time intervals from the moment when the forklift starts to move to the current moment, the position data and the speed data of each forklift correspond to one moment, the three data are combined into one data set, and the data sets form the sequence and are arranged in the sequence according to the moment generated by the data set.
Step 105, obtaining at least one data group from the sequence according to the identification starting time.
In step 105, at least one data set is obtained from the sequence according to the identification starting time, in an embodiment, a first data set to which a first time adjacent to the identification starting time belongs and a second data set to which a second time belongs are obtained from the sequence, wherein the first time is earlier than the identification starting time, and the second time is later than the identification starting time;
acquiring a first data group to which a first time adjacent to the identification starting time and earlier than the identification starting time belongs and a second data group to which a second time adjacent to the identification starting time and later than the identification starting time belongs from the sequence;
for example, the identification start time is 12: 12: 23, sequence ratio 12: 12: 23 early and adjacent time is 12: 12: 20, to 12: 12: 23 late and adjacent time is 12: 12: 25, then determine 12: 12: 20 is a first time, the data group to which the first time belongs is a first data group, 12: 12: and 25 is a second time, and the data group to which the second time belongs is a second data group.
In step 105, at least one data set is obtained from the sequence according to the identification starting time, and in another possible implementation mode, a third data set belonging to a third time which is the same as the identification starting time is obtained from the sequence;
acquiring a third data group to which a third time identical to the identification starting time belongs from the sequence;
for example, the identification start time is 12: 12: 23, one instant in the sequence is also 12: 12: 23, the time is determined as a third time and the data group to which the third time belongs is determined as a third data group.
And 106, calculating the position data of the pallet according to the first position data, the second position data, the identification starting time, the identification finishing time and the at least one data group.
In step 106, the pallet position data is calculated according to the first position data, the second position data, the identification starting time, the identification ending time and the at least one data group, and in an implementation mode, the third position data of the forklift at the identification starting time is calculated according to the following formula
：
The above-mentioned
As forklift position data in the first data set, the
Is the fork speed data in the first data set, said
Is the fork speed data in the second data set, said
To identify the starting moment, the
Is the time in the first data set;
calculating pallet position data according to the following formula
：
The above-mentioned
Is the first location data.
In step 106, the pallet position data is calculated according to the first position data, the second position data, the identification start time, the identification end time and the at least one data group, and in another embodiment, the pallet position data is calculated according to the following formula
：
The above-mentioned
As forklift position data in the third data set, the
Is the first location data.
As shown in fig. 3, an embodiment of the present invention provides a specific method for identifying a pallet position, where the method includes:
the method is divided into three stages, wherein the first stage is an initial stage, and the method of the stage comprises the following steps:
when the forklift starts to be in butt joint with the pallet, the forklift starts to decelerate until the speed of the forklift is reduced to a preset speed, and enough adjustment time is reserved for dynamically identifying the pallet and planning and updating the path;
and step 207, if the forklift does not pass through the identification starting point on the path, the forklift continuously moves along the path and continuously judges whether the forklift passes through the identification starting point on the path.
If the forklift has passed the identified starting point on the path, then entering a second stage, after the forklift reaches the identified starting point on the path shown in fig. 4, the method of the second stage comprises:
and step 205, continuously judging whether the forklift passes through the identification termination point in the current path or not in the process that the forklift moves along the current path, if the forklift does not pass through the identification termination point in the current path, repeating the method in the second stage, calculating the current position data of the new forklift and the pallet, generating a new current path, and enabling the forklift to move along the new current path until the forklift reaches the identification termination point in the current path.
In the third stage, after the forklift reaches the identified termination point in the current path, the method in the third stage comprises the following steps:
and step 206, stopping calculating the current position data of the new forklift and the pallet, determining the current path as the final path until the forklift moves to the end point in the final path, and finishing the butt joint with the pallet.
In the scheme of the invention, the data of the pallet relative to the position of the forklift is calculated through the acquired pallet image, the data group which belongs to two moments adjacent to the identification starting moment or the data group which belongs to one moment same as the identification starting moment is obtained from the forklift moving track sequence by utilizing the identification starting moment, then the position data of the forklift is calculated through the data in the data group, and the accurate pallet position data is calculated according to the forklift position data and the data of the pallet relative to the position of the forklift, so that the forklift can accurately identify the pallet position in the moving process and improve the efficiency of the forklift for identifying the pallet position, and the pallet position is identified for multiple times by the forklift in the moving process, thereby avoiding the final butt joint failure caused by the large single identification error, and the existing method for identifying the pallet position needs the forklift to be decelerated to stop, the method for identifying the pallet position ensures that the forklift finishes identifying the pallet position in moving, so that the time for finishing the butt joint with the pallet at each time is only 5 seconds on average, and a large amount of time is saved for the forklift to finish the butt joint with the pallet.
An embodiment of the present invention further provides a pallet position identification apparatus, as shown in fig. 6, the apparatus includes:
a calculation module 10, configured to calculate, according to the current position data of the forklift and the current position data of the pallet, a current path from the forklift to the pallet, so that the forklift moves along the current path to the pallet, wherein the forklift moves in the process of:
the acquisition module 20 is used for acquiring the pallet image at the initial identification time;
the identification module 30 is configured to generate first position data of the pallet relative to the forklift at the identification start time according to the pallet image, and the time when the first position data is generated is an identification end time;
the positioning module 40 is used for acquiring second position data of the forklift at the identification finishing moment;
the positioning module 40 is further configured to acquire a sequence for characterizing the movement track of the forklift, where the sequence includes a plurality of data sets, each data set includes a time when the data set is generated, forklift position data and forklift speed data corresponding to the time, and the data sets are arranged in the sequence according to the time when the data sets are generated;
the computing module 10 is further configured to obtain at least one data group from the sequence according to the identification start time;
the calculating module 10 is further configured to calculate the position data of the stack board according to the first position data, the second position data, the identification start time, the identification end time, and the at least one data group.
The calculation module 10 is further configured to determine that an initial value of the current position data of the forklift is preset forklift position data, and determine that an initial value of the current position data of the pallet is preset pallet position data.
The calculation module 10 is further configured to update the current position data of the forklift into the second position data, update the current position data of the pallet into the calculated pallet position data, and execute the calculation of the operation of the forklift to the current path of the pallet.
The calculation module 10 is further configured to select an identification termination point in the path, where a distance between the identification termination point and the current position of the pallet is greater than or equal to a preset length.
Wherein, the computing module 10 is further configured to, when the forklift moves to the identified termination point in the current path, move with the current path as a final path until the forklift moves to the pallet position in the final path, and complete the docking with the pallet.
The calculation module 10 is further configured to obtain, from the sequence, a first data group to which a first time adjacent to the identification start time belongs and a second data group to which a second time belongs, where the first time is earlier than the identification start time, and the second time is later than the identification start time;
the calculating module 10 is further configured to obtain, from the sequence, a third data group to which a third time that is the same as the identification start time belongs.
Wherein, the calculating module 10 is further configured to calculate third position data of the forklift at the identification starting time according to the following formula
：
The above-mentioned
As forklift position data in the first data set, the
Is the fork speed data in the first data set, said
Is the fork speed data in the second data set, said
To identify the starting moment, the
Is the time in the first data set;
the calculating module 10 is further configured to calculate the pallet position data according to the following formula
：
The above-mentioned
Is the first location data.
Wherein, the calculating module 10 is further configured to calculate the pallet position data according to the following formula
：
The above-mentioned
As forklift position data in the third data set, the
Is the first location data.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the methods according to the various embodiments of the present application described in the "exemplary methods" section of this specification, above.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, 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 computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform steps in a method according to various embodiments of the present application described in the "exemplary methods" section above of this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, 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.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (11)
1. A pallet position identification method is characterized in that the method is applied to a forklift and comprises the following steps:
calculating the current path of the pallet from the forklift to the current position data of the pallet according to the current position data of the forklift and the current position data of the pallet, so that the forklift moves to the pallet along the current path, wherein the forklift moves in the process of:
collecting a pallet image at the initial moment of identification;
generating first position data of the pallet relative to the forklift at the identification starting moment according to the pallet image, wherein the moment of generating the first position data is an identification finishing moment;
acquiring second position data of the forklift at the identification finishing moment;
acquiring a sequence for representing the moving track of the forklift, wherein the sequence comprises a plurality of data sets, each data set comprises the time of generation of the data set, forklift position data corresponding to the time and forklift speed data, and the data sets are arranged in the sequence according to the time of generation of the data sets;
acquiring at least one data group from the sequence according to the identification starting moment;
and calculating the position data of the pallet according to the first position data, the identification starting time and the at least one data group.
2. The pallet position identification method according to claim 1 wherein,
the initial value of the current position data of the forklift is preset forklift position data, and the initial value of the current position data of the pallet is preset pallet position data.
3. A pallet position identification method according to claim 1 or 2, wherein after said calculation of pallet position data, the method further comprises:
and updating the current position data of the forklift into the second position data, updating the current position data of the pallet into the calculated pallet position data, and executing the operation of calculating the current path of the forklift to the pallet.
4. A pallet position identification method according to claim 3 wherein when said calculating the current path of said truck to said pallet, said method further comprises:
and selecting an identification termination point in the path, wherein the distance between the identification termination point and the current position of the pallet is greater than or equal to a preset length.
5. The pallet position identification method according to claim 4 further comprising:
and when the forklift moves to the identified termination point in the current path, the forklift moves by taking the current path as a final path until the forklift moves to the pallet position in the final path, and the docking with the pallet is completed.
6. A pallet position identification method according to claim 1 wherein said obtaining at least one data set from said sequence in accordance with said identified start time comprises:
acquiring a first data group to which a first time adjacent to the identification starting time belongs and a second data group to which a second time belongs from the sequence, wherein the first time is earlier than the identification starting time, and the second time is later than the identification starting time;
or acquiring a third data group to which a third time identical to the identification starting time belongs from the sequence.
7. A pallet position identification method according to claim 6 wherein calculating pallet position data from said first position data, identification start time, first data set and second data set comprises:
calculating third position data of the forklift at the identification starting moment according to the following formula:
the above-mentioned
As forklift position data in the first data set, the
Is the fork speed data in the first data set, said
Is the fork speed data in the second data set, said
To identify the starting moment, the
Is the time in the first data set;
calculating pallet position data according to the following formula
：
The above-mentioned
Is the first location data.
8. A pallet position identification method according to claim 6 wherein calculating pallet position data from said first position data, identification start time and third data set comprises:
calculating pallet position data according to the following formula
：
The above-mentioned
As forklift position data in the third data set, the
Is the first location data.
9. A pallet position identifying device, comprising:
a calculation module for calculating the current path of the pallet from the forklift to the current path of the pallet according to the current position data of the forklift and the current position data of the pallet, so that the forklift follows the current path to the pallet moves, the forklift moves at the moving process:
the acquisition module is used for acquiring the pallet image at the identification starting moment;
the identification module is used for generating first position data of the pallet relative to the forklift at the identification starting moment according to the pallet image, and the moment of generating the first position data is the identification finishing moment;
the positioning module is used for acquiring second position data of the forklift at the identification finishing moment;
the positioning module is further used for acquiring a sequence for representing the moving track of the forklift, the sequence comprises a plurality of data sets, each data set comprises the time of generation of the data set, forklift position data and forklift speed data corresponding to the time, and the data sets are arranged in the sequence according to the time of generation of the data sets;
the computing module is further configured to obtain at least one data group from the sequence according to the identification start time;
the calculation module is further configured to calculate the position data of the stack board according to the first position data, the identification start time, and the at least one data group.
10. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus; a memory for storing a computer program; a processor for implementing the method steps of any one of claims 1 to 8 when executing a program stored in the memory.
11. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 8.
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