The invention relates to the technical field related to visual identification, in particular to a double-tray perpendicularity identification method, a forklift, a device and equipment. The double-tray perpendicularity identification method comprises the following steps: acquiring point cloud data; wherein the point cloud data is obtained by shooting a preset position by a preset shooting device; based on the point cloud data, determining first point cloud data corresponding to the upper stack of goods and second point cloud data corresponding to the lower stack of goods; determining a target difference value group based on the first point cloud data and the second point cloud data; wherein the target difference value group is the difference value of the upper stack of goods and the lower stack of goods in the x-axis direction and the y-axis direction of the first coordinate system; wherein the x-axis direction and the y-axis direction of the first coordinate system are parallel to the ground plane; and determining the perpendicularity of the double trays based on the target difference value group. According to the scheme provided by the invention, the double-tray perpendicularity is determined through the point cloud data and the visual identification technology.

    本申请涉及视觉识别相关技术领域,具体涉及一种双托盘垂直度识别方法、叉车、装置及设备。其中,双托盘垂直度识别方法,包括:获取点云数据;其中,所述点云数据为预设拍摄设备对预设位置进行拍摄得到的;基于所述点云数据,确定上垛货物对应的第一点云数据和下垛货物对应的第二点云数据;基于所述第一点云数据和所述第二点云数据,确定目标差值组;其中,所述目标差值组为上垛货物和下垛货物第一坐标系的x轴方向和y轴方向上的差值;其中第一坐标系的x轴方向和y轴方向均与地平面平行;基于目标差值组,确定双托盘的垂直度。本申请提供的方案通过点云数据和视觉识别技术确定双托盘垂直度。


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    Title :

    Double-tray perpendicularity identification method, forklift, device and equipment


    Additional title:

    双托盘垂直度识别方法、叉车、装置及设备


    Contributors:
    WANG HAITIAN (author) / LIU HAITAO (author) / SONG RONGRONG (author) / ZHAO ERXUN (author) / XU HUI (author)

    Publication date :

    2024-08-16


    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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



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