The invention discloses a self-adaptive tray opposite insertion method and system for a stacking forklift, and belongs to the technical field of forklift control. The self-adaptive tray inserting method for the stacking forklift comprises the steps that a tray image shot by a depth camera is obtained, the tray image is input into an image recognition model, and tray pose information is obtained; the pose deviation value of the tray and the pallet fork is calculated according to the tray pose information; if the pose deviation value is smaller than the critical value and the photoelectric switch is not shielded, the stacking forklift is controlled to execute opposite insertion operation on the tray according to the pose deviation value and the positioning information; wherein the positioning information is information obtained by performing data fusion on a speedometer and an inertial measurement unit; in the data fusion process, the odometer carries out state estimation in a Kalman filtering mode, and the inertial measurement unit carries out state estimation in an extended Kalman filtering mode. According to the tray inserting device, the tray inserting precision of the stacking forklift can be improved.

    本申请公开了一种堆垛叉车自适应托盘对插方法及系统,所属的技术领域为叉车控制技术领域。所述堆垛叉车自适应托盘对插方法包括:获取深度相机拍摄的托盘图像,并将托盘图像输入图像识别模型,得到托盘位姿信息;根据托盘位姿信息计算托盘与货叉的位姿偏差值;若位姿偏差值小于临界值且光电开关未被遮挡,则根据位姿偏差值和定位信息控制堆垛叉车对托盘执行对插操作;其中,定位信息为通过将里程计和惯性测量单元进行数据融合得到的信息;在数据融合的过程中,里程计使用卡尔曼滤波的方式进行状态估计,惯性测量单元使用扩展卡尔曼滤波的方式进行状态估计。本申请能够提高堆垛叉车的托盘对插精度。


    Access

    Download


    Export, share and cite



    Title :

    Self-adaptive tray opposite insertion method and system for stacking forklift


    Additional title:

    一种堆垛叉车自适应托盘对插方法及系统


    Contributors:
    JIAN AO (author) / PAN PENGFEI (author) / CAI MINGLONG (author) / ZHANG YAMING (author) / MA YINFEI (author) / GAO HONGPENG (author)

    Publication date :

    2024-10-15


    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



    Self-lifting type tray stacking forklift and loading method thereof

    LI CHUNMIAO / WANG CHUNHAI / DONG ZHAOZHI et al. | European Patent Office | 2024

    Free access

    Unmanned tray carrying forklift

    SU MING / PAN JING / ZHANG GUOBAO | European Patent Office | 2024

    Free access

    Hand-pushed-forklift carrying tray

    WANG XIAOCHEN / CHEN DEPING / WANG JIANMIN | European Patent Office | 2016

    Free access

    Stacking type AGV forklift

    JI CAILING | European Patent Office | 2021

    Free access

    Ground forklift for carrying ground tray

    JIN YUEYUE / ZHOU QI / JIANG WEI | European Patent Office | 2021

    Free access