The invention relates to a forklift pallet butt joint detection method and system, and the method comprises the steps: obtaining a current to-be-processed pallet image when a detection device determines that no pallet exists above prongs of a forklift, and adjusting the pose of the forklift according to the pallet image and the current pose of the forklift, so as to enable the prongs of the forklift to be aligned with the center of the pallet; the method comprises the following steps: when prongs of a forklift enter a jack area of a tray, acquiring an inner wall image of a jack of the tray, and converting and processing the inner wall image of the jack to obtain point cloud data of the inner walls of the left side and the right side of the jack; processing the point cloud data of the inner walls of the left and right sides of the jack by adopting a PCA algorithm, and determining whether the angles between the prongs and the inner walls of the left and right sides of the tray jack are within a preset threshold; if yes, when no obstacle exists in front of the fork teeth and the tray is in place, butt joint is completed. According to the method, non-contact detection of tray forking of the forklift is achieved, and it is guaranteed that the forking action is completed smoothly and safely.
本发明涉及一种叉车托盘对接检测方法与检测系统,检测方法包括:检测装置在确定叉车的叉齿上方不存在托盘时,获取当前待处理的托盘图像,根据所述托盘图像和当前叉车的位姿,调整叉车的位姿,以使叉车的叉齿和所述托盘中心对准;在叉车的叉齿进入托盘的插孔区域时,获取所述托盘的插孔内壁图像,对所述插孔内壁图像进行转换并处理,得到插孔左右两侧内壁点云数据;采用PCA算法对插孔左右两侧内壁点云数据进行处理,确定叉齿与托盘插孔左右两侧内壁的角度是否在预设阈值内;若是,且在叉齿前方无存在障碍物且托盘到位时完成对接。上述方法实现非接触式检测叉车叉取托盘,保证叉取动作顺利安全完成。
Forklift pallet butt joint detection method and detection system
一种叉车托盘对接检测方法与检测系统
2023-05-09
Patent
Electronic Resource
Chinese
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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