The invention provides a forklift pallet butt joint method, device and equipment and a storage medium, and the method comprises the steps that camera equipment is installed on a forklift and calibrated, and internal and external parameters of a camera and relative pose information of the camera and the forklift are obtained; and after a tray butt joint instruction is received, the forklift is controlled to move to a designated position, and an external environment image is shot through a camera. The position of a target tray in the image is determined through a visual identification technology, depth marking is carried out on the image to generate false point cloud data, and then pose information of the tray is obtained through calculation. In addition, the pose information of the forklift is accurately calculated by combining the pose information of the camera and the pose information of the tray, so that the forklift is guided to automatically complete a tray docking task. According to the method, through integrated camera equipment and an advanced calculation processing technology, automatic butt joint of the forklift and the trays is achieved, and the efficiency and accuracy of logistics operation are improved.

    本发明提供了一种叉车托盘对接方法、装置、设备及存储介质,其中,该方法包括:通过在叉车上安装相机设备并进行标定,获取相机的内外参数及其与叉车的相对位姿信息。接收到托盘对接指令后,控制叉车移动至指定位置,并利用相机拍摄外部环境图像。通过视觉识别技术确定图像中目标托盘的位置,并对图像进行深度标注以生成伪点云数据,进而计算得到托盘的位姿信息。此外,结合相机位姿信息和托盘位姿信息,精确计算出叉车的位姿信息,从而指导叉车自动完成托盘对接任务。本方法通过集成的相机设备和先进的计算处理技术,实现叉车对托盘的自动对接,提高物流作业的效率和准确性。


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    Title :

    Forklift pallet butt joint method, device and equipment and storage medium


    Additional title:

    叉车托盘对接方法、装置、设备及存储介质


    Contributors:
    QI WENXING (author)

    Publication date :

    2025-01-24


    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 / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen



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