The invention belongs to the technical field of automatic control, and discloses an unmanned forklift high-position goods shelf goods placing method, device and equipment and a storage medium. The method comprises the steps that image information of a forklift tray and a goods shelf is obtained through a depth camera on a fork arm of the unmanned forklift; determining point cloud data of the forklift tray and the goods shelf according to the image information of the forklift tray and the goods shelf; according to the point cloud data, determining space position information of the forklift pallet and the goods shelf; determining a distance difference value between the forklift pallet and the front surface of the goods shelf according to the spatial position information; and according to the distance difference value, the fork arm is controlled to carry out pose adjustment so as to complete goods placing. By means of the mode, the situation that the portal frame shakes due to the fact that the forklift lifts too high when goods are placed on a high-position goods shelf can be reduced, goods placing of the unmanned forklift is more accurate, the possibility of safety accidents is reduced, and the use experience of a user is improved.

    本发明属于自动控制技术领域,公开了一种无人叉车高位货架放货方法、装置、设备及存储介质。该方法包括:通过无人叉车的叉臂上的深度相机获取叉车托盘与货架的图像信息;根据叉车托盘与货架的图像信息确定叉车托盘与货架的点云数据;根据点云数据确定叉车托盘与货架的空间位置信息;根据空间位置信息确定叉车托盘与货架的前表面之间的距离差值;根据距离差值控制叉臂进行位姿调整,以完成放货。通过上述方式,实现了可以减少叉车在高位货架放货时因为举升太高导致门架晃动的情况发生,使得无人叉车的放货更加精准,减小安全事故发生的可能性,提高用户的使用体验。


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    Title :

    Unmanned forklift high-position goods shelf goods placing method, device and equipment and storage medium


    Additional title:

    无人叉车高位货架放货方法、装置、设备及存储介质


    Contributors:

    Publication date :

    2022-09-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06V




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