The embodiment of the invention provides a butt joint method of an autonomous mobile forklift and the autonomous mobile forklift. The autonomous mobile forklift comprises a forklift body and an image acquisition unit arranged on the forklift body. The vehicle body comprises a vehicle main body and a fork tooth part arranged on one side of the vehicle main body; the method comprises the following steps: acquiring a first image of a target object acquired by an image acquisition unit; determining target information related to the pose of a target object according to the first image; according to the target information, the pose of the autonomous moving forklift is adjusted, so that a fork tooth part is aligned with a butt joint part at the bottom of the target object; and after the posture adjustment of the autonomous mobile forklift is completed, the autonomous mobile forklift is controlled to move towards the target object in the adjusted posture, so that the fork tooth part is in butt joint with a butt joint part at the bottom of the target object. By adopting the technical scheme provided by the embodiment of the invention, the accurate docking of the autonomous mobile forklift and the target object can be realized, and the autonomous mobile forklift in the scheme is simple in structure and low in cost.

    本申请实施例提供一种自主移动叉车的对接方法及自主移动叉车。其中,自主移动叉车包括车体以及设置于车体的图像采集单元;车体包括车主体以及设置于车主体一侧的叉齿部;所述方法包括:获取图像采集单元采集的目标对象的第一图像;根据所述第一图像,确定与目标对象的位姿相关的目标信息;根据所述目标信息,调整自主移动叉车的位姿,以使叉齿部对准目标对象底部的对接部;所述自主移动叉车的位姿调整完成后,控制所述自主移动叉车以其调整后的姿态朝所述目标对象移动,以使所述叉齿部与所述目标对象底部的对接部对接。采用本申请实施例提供的技术方案,能够实现自主移动叉车与目标对象精准对接,且方案中自主移动叉车结构简单,成本低。


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    Title :

    Butt joint method of autonomous mobile forklift and autonomous mobile forklift


    Additional title:

    自主移动叉车的对接方法及自主移动叉车


    Contributors:
    CHENG PENG (author) / QI OU (author) / ZHANG SHUO (author)

    Publication date :

    2022-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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