The invention relates to the technical field of intelligent vehicles, and discloses a forklift tray automatic forking method and device, computer equipment and a storage medium, and the method comprises the steps that under the condition that instruction information of a target forklift for automatically forking a tray is obtained, pose information of the tray is obtained; constructing a target coordinate system according to the pose information of the tray; according to the first positioning information of the target forklift and the target coordinate system, generating a plurality of planned paths for the target forklift to run; according to the planned path and the target coordinate system, the position relation between a pallet fork of the target forklift and a tray is determined; and a target path is selected from the planned paths according to the position relation, and the target path is the path for achieving automatic tray forking of the target forklift. According to the embodiment of the invention, the target coordinate system is constructed based on the pose information of the tray, then the planned path is obtained based on the current positioning information of the target forklift and the target coordinate system, whether the planned path can realize safe operation or not is judged, and the collision risk is avoided.

    本公开涉及智能车辆技术领域,公开了一种叉车托盘自动叉取的方法、装置、计算机设备及存储介质,该方法包括:在获取到目标叉车自动叉取托盘的指令信息的情况下,获取托盘的位姿信息;根据托盘的位姿信息,构建目标坐标系;根据目标叉车的第一定位信息和目标坐标系,生成目标叉车行驶的多条规划路径;根据规划路径和目标坐标系,确定目标叉车的货叉与托盘之间的位置关系;根据位置关系从规划路径中选取出目标路径,其中,目标路径为实现目标叉车自动叉取托盘的路径。本公开实施例通过基于托盘的位姿信息构建目标坐标系,然后基于目标叉车的当前定位信息和目标坐标系得到规划路径,判断规划路径能否实现安全作业,避免出现碰撞风险。


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    Title :

    Automatic forklift pallet forking method and device, computer equipment and storage medium


    Additional title:

    叉车托盘自动叉取的方法、装置、计算机设备及存储介质


    Contributors:
    XIONG FENG (author) / JIANG BO (author)

    Publication date :

    2023-12-12


    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



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