The invention discloses a method and device for determining the center position of a tray, electronic equipment and a storage medium, and relates to the field of image processing. The method is applied to an AGV and comprises the steps of: after the height of the tray is adjusted to lift a calibration tool to any height, enabling the tray to drive the calibration tool to rotate by a circle, and collecting a plurality of first images; identifying reference identifiers in the plurality of first images to obtain a plurality of first reference object coordinates and form a reference object coordinate sequence; calculating a tray center coordinate according to the reference object coordinate sequence; adjusting the tray height for many times to collect a first image and calculating tray center coordinates to obtain a plurality of tray center coordinates; fitting a tray center straight line according to the plurality of tray center coordinates; and calculating the tray center coordinate according to the height of the tray and the tray center straight line, and improving the accuracy of the determined tray center position and the stability of the AGV carrying goods shelf.
本发明公开一种托盘中心位置的确定方法、装置、电子设备及存储介质,涉及图像处理领域,该方法应用于AGV,包括:调整托盘高度以抬升校准工装到任意高度后,将托盘带动校准工装旋转一周并采集多个第一图像;识别多个第一图像中的参考标识,得到多个第一参考物坐标并组成参考物坐标序列;根据参考物坐标序列计算托盘中心坐标;多次调整托盘高度采集第一图像并计算托盘中心坐标,得到多个托盘中心坐标;根据多个托盘中心坐标,拟合托盘中心直线;根据托盘所在高度和托盘中心直线计算托盘中心坐标,提高了确定的托盘中心位置的准确性和AGV搬运货架的稳定性。
Method and device for determining center position of tray, electronic equipment and storage medium
托盘中心位置的确定方法、装置、电子设备及存储介质
2021-08-10
Patent
Elektronische Ressource
Chinesisch
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