The invention belongs to the technical field of monitoring, and provides an intelligent carrying and stacking forklift device which comprises a forklift body and an intelligent carrying system integrally arranged with or separated from the forklift, and the intelligent carrying system comprises a tray monitoring module, a tray positioning module and a control module. The tray monitoring module identifies a picture acquired by the RGB camera based on a Yov5 network so as to judge whether a tray needing to be transferred exists in a monitoring range or not; when it is determined that the tray needing to be transferred exists, the tray positioning module is used for obtaining the pose of the target tray relative to the forklift from a depth image according to the depth image obtained by a depth camera located at the bottom of the forklift after the forklift approaches the target tray needing to be transferred; the control module is used for carrying out tracking control on the forklift carrying tray; the problems that in existing calculation, forklift carrying butt joint precision is low, the recognition rate is insufficient, sensor dependence is high, and the algorithm coverage range is limited can be solved.

    本发明属于监控技术领域,提供了一种智能搬运堆高叉车装置,装置包括叉车本体,以及包括与叉车一体设置或相分离的智能搬运系统,智能搬运系统包括托盘监控模块、托盘定位模块、控制模块,托盘监控模块基于Yolov5网络对由RGB相机获取的照片进行识别,以判断监控范围内是否有需要转移的托盘;在确定存在需要转移的托盘时,托盘定位模块用于在叉车接近需要转移的目标托盘后,根据位于叉车底部的深度相机所获取的深度图像,从深度图像中获取目标托盘相对于叉车的位姿;控制模块用于对叉车搬运托盘进行跟踪控制;本发明能解决现有计算中叉车搬运对接精度低、识别率不足、传感器依赖性强、算法覆盖范围有限的问题。


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    Title :

    Intelligent carrying and stacking forklift device


    Additional title:

    一种智能搬运堆高叉车装置


    Contributors:
    XU CHENGHUI (author) / XU XIANGYU (author) / SHI KEJUN (author)

    Publication date :

    2024-12-27


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / 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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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