The invention discloses a goods shelf stacking method based on stereoscopic vision and an AGV forklift, and the method comprises the steps that according to the position information of a stacked goods shelf, the AGV forklift carries a to-be-stacked goods shelf to the position above the stacked goods shelf; carrying parts of the to-be-stacked goods shelf and the stacked goods shelf are subjected to stereo imaging through a 3d image acquisition device, a 3d image is obtained and processed, and first position information of the to-be-stacked goods shelf and second position information of the stacked goods shelf are obtained respectively; according to the first position information of the to-be-stacked goods shelf and the second position information of the stacked goods shelf, the horizontal pose difference of the to-be-stacked goods shelf relative to the stacked goods shelf is obtained, and the adjustment amount of the to-be-stacked goods shelf is calculated; the AGV forklift adjusts the to-be-stacked goods shelf according to the adjustment amount and performs stacking treatment; according to the method, pose conversion is carried out through one-time imaging, accumulated errors are reduced, the movement amount of the goods shelf to be stacked is reduced, errors generated by movement are reduced, the stacking precision is improved, and the method is suitable for multi-layer stacking of the goods shelf with the small contact surface.
本发明公开了一种基于立体视觉的货架堆叠方法及AGV叉车,包括:根据被堆叠货架的位置信息,AGV叉车把待堆叠货架搬运至被堆叠货架上方;通过3d图像采集设备对待堆叠货架与被堆叠货架的承接部分一起立体成像,获取3d图像并处理,分别获取待堆叠货架的第一位置信息和被堆叠货架的第二位置信息;根据待堆叠货架的第一位置信息和被堆叠货架的第二位置信息,获取待堆叠货架相对被堆叠货架的水平位姿差,计算出待堆叠货架调整量;AGV叉车根据调整量对待堆叠货架进行调整并做堆叠处理;本发明采用一次成像进行位姿换算,降低了累计误差,减少了待堆叠货架移动量,降低了移动产生的误差,提高了堆叠精准度,适应于小接触面的货架多层堆叠。
Shelf stacking method based on stereoscopic vision and AGV forklift
一种基于立体视觉的货架堆叠方法及AGV叉车
2024-01-09
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 |