CN109987550A - A kind of high position forklift, the calibration method and storage medium for giving back storage container - Google Patents
A kind of high position forklift, the calibration method and storage medium for giving back storage container Download PDFInfo
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- CN109987550A CN109987550A CN201910272981.8A CN201910272981A CN109987550A CN 109987550 A CN109987550 A CN 109987550A CN 201910272981 A CN201910272981 A CN 201910272981A CN 109987550 A CN109987550 A CN 109987550A
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- pallet fork
- storage container
- container
- base stock
- positioning identifier
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The embodiment of the invention discloses a kind of high position forklift, give back storage container calibration method and storage medium.High position forklift includes pallet fork, image acquisition device and range sensor are provided on pallet fork, image acquisition device is used for through capture setting in the positioning identifier on base stock container, acquisition can characterize pallet fork and positioning identifier projects to the image data of the positional relationship between the projected image in given plane, range sensor is for measuring the distance between pallet fork and base stock container, and obtain range data, wherein, method includes: after lifting storage container to the destination layer equal height with base stock container to be placed in pallet fork, according to image data, regulate and control the positional relationship of pallet fork and positioning identifier between the projected image in given plane；According to range data, regulate and control the distance between pallet fork and base stock container.From there through position of the adjustment pallet fork relative to stock container, precisely to give back storage container, and promote storage container gives back efficiency.
Description
Technical field
The present embodiments relate to unmanned fork lift equipment technical field more particularly to a kind of high position forklift, give back storage appearance
The calibration method and storage medium of device.
Background technique
With the rapid development of China Logistics industry, safe and efficient work flow is become in order to which each logistics company mentions
The necessary means of the market competitiveness are risen, and in many logistics warehouses, in order to save space, it will usually improve the height of stock shelf
Degree, and the equipment for designing corresponding access goods, and for relatively large or heavier article, high position forklift becomes for logistics warehouse
In both flexibly had efficient quick access tools.And usually high position forklift also needs to hold by fork truck after taking article
The storage container (such as pallet) of article is returned to corresponding stock container position.
Currently, high position forklift on the market is divided by the fork truck of pilot steering and two kinds of unmanned fork lift, for pilot steering
Fork truck, need to operate control by driver, when giving back storage container to stock container designated position, driver is visually
Pallet fork and stock container relative position, constantly adjust position and the angle of pallet fork, given back to complete storage container.So
And in such a way that driver constantly adjusts pallet fork position and angle, complicated for operation and positioning accuracy is poor, holds so that giving back storage
The inefficiency of device.For unmanned fork lift, stock container generally is given back using preset height.But warehouse site environment is complicated,
Ground injustice or ground such as occur has barrier (such as the kinds of goods fallen) etc. that fork truck two-wheeled is caused to be uneven, it is easy to lead
Stock container failure is given back in cause, or even damage stock container, high-order cargo such as fall at the safety accidents.
Summary of the invention
The embodiment of the invention provides a kind of high position forklift, give back storage container calibration method and storage medium, pass through
Position of the high-order unmanned fork lift adjust automatically pallet fork relative to stock container, is precisely given back under the premise that security is guaranteed with reaching
Container store in a warehouse to the purpose of stock container designated position, promote storage container gives back efficiency.
In a first aspect, the embodiment of the invention provides a kind of high position forklift, including pallet fork, image acquisition device, Distance-sensing
Device and processing regulation module, wherein processing regulation module is passed with the pallet fork, described image collector, the distance respectively
Sensor electrical connection；Wherein:
The pallet fork includes the first pallet fork and the second pallet fork, for carrying storage container to be placed；
Described image collector is set on first pallet fork, for passing through capture setting on base stock container
Positioning identifier, acquisition can characterize the pallet fork and the positioning identifier projects to the position between the projected image in given plane
The image data of relationship；
The range sensor is set on second pallet fork, for measuring the pallet fork and the base stock container
The distance between, and obtain range data；
The processing regulates and controls module, holds for lifting storage container to be placed in the pallet fork to the base stock
After the destination layer equal height of device, according to described image data, regulate and control the pallet fork and the positioning identifier in given plane
Projected image between positional relationship；And according to the range data, regulate and control the pallet fork and the base stock container
The distance between.
Second aspect, the embodiment of the invention provides a kind of calibration methods for giving back storage container, are executed by high position forklift,
The high position forklift includes pallet fork, and image acquisition device and range sensor are provided on the pallet fork, and described image collector is used
In by capture setting, in the positioning identifier on base stock container, acquisition can characterize the pallet fork and the positioning identifier projects
The image data of the positional relationship between projected image on to given plane, the range sensor is for measuring the pallet fork
The distance between described base stock container, and obtain range data, wherein the calibration method for giving back storage container includes:
After lifting storage container to the destination layer equal height with base stock container to be placed in the pallet fork, according to
Described image data regulate and control the positional relationship of the pallet fork and the positioning identifier between the projected image in given plane；
According to the range data, regulate and control the distance between the pallet fork and the base stock container.
The third aspect, the embodiment of the invention also provides a kind of calibrating installations for giving back storage container, are configured at high-order fork
In the processing regulation module of vehicle, high position forklift includes pallet fork, and image acquisition device and range sensor, institute are provided on the pallet fork
State image acquisition device for by capture setting in the positioning identifier on base stock container, acquisition can characterize the pallet fork and institute
The image data for the positional relationship that positioning identifier projects between the projected image in given plane is stated, the range sensor is used
In measurement the distance between the pallet fork and the base stock container, and range data is obtained, which includes:
Position adjusting type modules, for lifting storage container to be placed to the target with base stock container in the pallet fork
After layer equal height, according to described image data, regulate and control the pallet fork and perspective view of the positioning identifier in given plane
Positional relationship as between；
Distance regulation module, for regulating and controlling between the pallet fork and the base stock container according to the range data
Distance.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the calibration method for giving back storage container as described in any embodiment of the present invention when the program is executed by processor.
A kind of calibration method, device, high position forklift and storage medium for giving back storage container provided in an embodiment of the present invention,
It is collected in real time according to image acquisition device after pallet fork lifts storage container to base stock container designated position equal height
Positioning identifier, position of the adjust automatically pallet fork relative to base stock container, while according to storage container attribute and Distance-sensing
The pallet fork of device acquisition calculates the horizontal distance moved needed for giving back storage container at a distance from base stock container, to reach accurate
Storage container is given back to the purpose of stock container designated position, improve storage container gives back efficiency.
Detailed description of the invention
Fig. 1 is the system structure diagram of cargo radio frequency provided by the invention；
Fig. 2 is the structural schematic diagram of high-order stock container provided by the invention；
Fig. 3 is a kind of structural schematic diagram for high position forklift that the embodiment of the present invention one provides；
Fig. 4 is a kind of structural schematic diagram of high position forklift provided by Embodiment 2 of the present invention；
Fig. 5 a is a kind of structural schematic diagram for high position forklift that the embodiment of the present invention three provides；
Fig. 5 b calculates the schematic diagram of extreme lower position when being the storage container lean of the offer of the embodiment of the present invention three；
Fig. 6 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention five provides；
Fig. 7 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention six provides；
Fig. 8 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention seven provides；
Fig. 9 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention eight provides；
Figure 10 is a kind of structural schematic diagram for calibrating installation for giving back storage container that the embodiment of the present invention nine provides.
Specific embodiment
The system structure diagram of cargo radio frequency shown in FIG. 1 is please referred to, cargo radio frequency includes: high position forklift
10, control system 20, stock container area 30 and sorting station 40, stock container area 30 is provided with multiple stock containers 31, inventory
It is placed with various cargos on container 31, such as the stock container one for being placed with extensive stock seen in supermarket such as us
Sample is arranged into stock container array format between multiple stock containers 31, wherein as shown in Fig. 2, stock container 31 is a kind of high
Position stock container, each layer of the stock container are pasted with positioning identifier 301.
Control system 20 is carried out wireless communication with high position forklift 10, high position forklift 10 under the control of control system 20,
Cargo is transported goods to after sorting station 40, the storage container for holding cargo is returned to the position of corresponding picking stock container
It sets.For example, when giving back storage container, high position forklift 10 is carried before storage container to be given back is moved to stock container 31, is mentioned
Pallet fork is risen to designated layer equal height, the positioning identifier 301 by scanning this layer stickup adjusts pallet fork, to complete storage container
Give back.
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 3 is a kind of structural schematic diagram for high position forklift that the embodiment of the present invention one provides, including pallet fork 1, Image Acquisition
Device 2, range sensor 3 and processing module 4, wherein processing regulation module 4 respectively with pallet fork 1, image acquisition device 2, Distance-sensing
Device 3 is electrically connected；Further, processing regulation module 4 is connect by driving mechanism with pallet fork 1, and passes through driving mechanisms control goods
1 movement of fork, driving mechanism includes the components such as driving motor, gear.It should be noted that in other embodiments of the present invention
Driving mechanism is formed with the driving mechanism in the present embodiment in high position forklift (such as Fig. 4 and Fig. 5 a) and function is identical.
Pallet fork 1 includes the first pallet fork 11 and the second pallet fork 12, for carrying storage container to be placed；
Image acquisition device 2 is set on first pallet fork 11, the front end of the first pallet fork 11 is preferably located on, for leading to
Capture setting is crossed in the positioning identifier on base stock container, acquisition can characterize the pallet fork and the positioning identifier projects to finger
Allocate the image data of the positional relationship between the projected image on face；
Range sensor 3 is set on the second pallet fork 12, the front end of the second pallet fork 12 is preferably located on, for measuring goods
The distance between fork and base stock container, and obtain range data；
Processing regulation module 4, for the pallet fork lift storage container to be placed to the base stock container
Destination layer equal height after, according to described image data, regulate and control the pallet fork and the positioning identifier in given plane
Positional relationship between projected image；And according to the range data, regulate and control the pallet fork and the base stock container it
Between distance.
Since high position forklift is after taking article, also need for the storage container (such as pallet) of contain things to be placed into accordingly
Stock container layer when article is taken, that is to say that the corresponding position of giving back of each storage container to be placed is solid on stock container
Fixed.Therefore when giving back storage container, processing regulation module, which controls pallet fork first and lifts storage container to be placed, to be arrived and mesh
Mark the destination layer equal height of stock container.Wherein, base stock container is a kind of high-order stock container of multilayer, and adjacent two
The difference in height of layer stock container is identical, such as 1 meter.Meanwhile each layer of stock container is provided with positioning identifier, and each layer
Positioning identifier setting position be it is fixed, the fixation position include pallet fork lifting storage container to base stock container
After destination layer equal height, on the destination layer of base stock container with the image acquisition device that is set on pallet fork theoretically face
Position.Wherein, positioning identifier is, for example, two dimensional code, such as DM code.
Pallet fork lifting storage container is controlled to the destination layer equal height with base stock container in processing regulation module 4
Afterwards, the positioning mark being pasted on the destination layer of base stock container is acquired in real time by being set to the image acquisition device of pallet fork front end
Know, and then acquisition can characterize pallet fork and positioning identifier projects to the image of the positional relationship between the projected image in given plane
Data, wherein given plane illustratively can the plane perpendicular to pallet fork between pallet fork and positioning identifier.According to acquisition
Image data adjust pallet fork position so that pallet fork adjusted only need to by move horizontally can by pallet fork carry storage hold
Device is placed into the destination layer of base stock container.
Further, regulate and control the distance between pallet fork and base stock container, that is to say that shortening pallet fork and base stock holds
The distance between device can be realized by moving horizontally pallet fork.And the distance moved horizontally in pallet fork is adopted greater than range sensor
The purpose for giving back storage container can be realized in the range data of collection.Further, in order to guarantee the stationarity of place position storage container
And the accuracy of pallet fork moving distance, when at a distance from regulation pallet fork is between base stock container, in addition to considering that distance passes
Outside the range data of sensor acquisition, it is also necessary to the attribute of storage container is considered, wherein storage container attribute includes storage container
The information such as length, width and height.In the present embodiment, storage container attribute includes the width of storage container.Preferably, it handles
Regulate and control the distance between pallet fork front end and the base stock container that module 4 acquires range sensor, is asked with storage container width
With, using obtain and value as when pallet fork place position storage container it is required towards base stock container direction move level away from
From.Thus the pallet fork after adjusting position can be controlled by processing regulation module 4 towards base stock container direction mobile computing
Horizontal distance out can ensure that storage container reaches the destination layer of base stock container, that is, complete giving back for container of storage and put
It sets.
High position forklift provided in this embodiment, it is same to base stock container designated position in control pallet fork lifting storage container
Etc. after height, positioning identifier is acquired according to image acquisition device in real time, position of the adjust automatically pallet fork relative to base stock container,
It is calculated at a distance from base stock container according to the pallet fork of storage container attribute and range sensor acquisition simultaneously and gives back storage appearance
The horizontal distance moved needed for device improves storehouse to achieve the purpose that precisely to give back storage container to stock container designated position
Storage container gives back efficiency.
Embodiment two
Fig. 4 is a kind of structural schematic diagram of high position forklift provided by the embodiment, and the present embodiment is based on above-described embodiment
It optimizes, processing regulation module 4 includes:
Target position adjustment unit, for the position according to collected positioning identifier in image acquisition device shot image
It sets, control pallet fork moves to target position by way of moving left and right or moving up and down, wherein in target location, positioning
Corresponding projected image is identified, the preset standard position in image acquisition device shot image.
Wherein, preset standard position is illustratively the center of image acquisition device shot image.Due to Land leveling
Degree or high position forklift itself the control reasons such as precision, pallet fork lifting storage container is to same with the destination layer of base stock container
When height, the collected positioning identifier of the image acquisition device of pallet fork front end is not in the centre bit of image acquisition device shot image
It sets, i.e., pallet fork is not aligned with positioning identifier.
Therefore need to calibrate pallet fork position to target position.It, can be by adjustment goods as a kind of optional calibrating mode
The mode of real-time monitoring positioning identifier position is calibrated during fork.Illustratively, if collected positioning identifier pair
The projected image answered position to the left in image acquisition device shot image is then moved to the left pallet fork, while acquisition positioning in real time
Mark, until collected positioning identifier is located at the center of image acquisition device shot image, pallet fork is moved in stopping, at this time goods
Pitching position is target position.It, can be by before pallet fork that range sensor measures as another optional calibrating mode
End is with base stock container at a distance from and the size of the clapped positioning identifier of image acquisition device, calibration pixel value, and according to being marked
The range deviation of center of the fixed calculated for pixel values positioning identifier relative to image acquisition device shot image, according to this distance
Deviation determines directly mobile pallet fork to target position.
Vertical moving unit moves pre-determined distance from target position for controlling pallet fork vertically upward, so that the goods
The storage container of fork carrying is protruded into without barrier in the memory space of the base stock container；Wherein, pre-determined distance is basis
The height of the bottom surface of the destination layer of the height and base stock container of positioning identifier determines.
After pallet fork is adjusted to target position, to guarantee that pallet fork can normally give back storage container, also need to guarantee that storage is held
Device bottom surface is higher than the bottom surface of the destination layer of base stock container, and difference in height between the two is less than preset threshold, wherein this hair
The bottom surface of the destination layer of base stock container in bright embodiment is the upper bottom surface of destination layer.Therefore vertical moving unit needs
It controls pallet fork and moves pre-determined distance vertically upward from target position, wherein pre-determined distance is the height and mesh according to positioning identifier
The height for marking the bottom surface of the destination layer of stock container determines that illustratively, pre-determined distance is in section (A, B), wherein A is fixed
The difference in height of the destination layer bottom surface of bit identification and base stock container, B be the sum of A and preset threshold, wherein preset threshold namely
For the largest motion error of permission.
High position forklift provided in this embodiment exists after collecting positioning identifier according to the corresponding projected image of positioning identifier
Pallet fork is calibrated to target position, so in position by way of moving left and right or moving up and down pallet fork in image acquisition device shot image
Afterwards by pallet fork pan-up certain distance, the accurate positioning to pallet fork is realized with this, guarantees that pallet fork gives back the accurate of storage container
Degree, container of storing in a warehouse can be promoted with this gives back efficiency.
Embodiment three
Fig. 5 a is a kind of structural schematic diagram of high position forklift provided by the embodiment, and the present embodiment is based on above-described embodiment
It optimizes, processing regulation module 4 includes:
Judging unit, for vertical moving unit by pallet fork from the target position move vertically upward pre-determined distance it
Before, according to position of the collected positioning identifier in described image collector shot image, judge collected positioning identifier
Whether angular deviation in the horizontal direction is greater than predetermined angle threshold value.
Due to being influenced by warehouse floor smooth degree, pallet fork has certain inclination, it is therefore desirable to determine current pallet fork
Whether inclined degree will affect giving back for storage container.Specifically, can be by judging collected positioning identifier in the horizontal direction
On angular deviation whether be greater than predetermined angle threshold value to determine.
Target range determination unit, for judging the angle of collected positioning identifier in the horizontal direction in judging unit
When spending deviation greater than predetermined angle threshold value, the height of the extreme lower position of storage container is determined according to angular deviation and storage container attribute
Degree, then according to storage container extreme lower position height and base stock container destination layer bottom surface height calculate target away from
From, and control pallet fork and move target range vertically upward from target position, wherein storage container attribute includes that storage container is long
Degree.
Wherein, in the present embodiment, storage container attribute is storage container length.Since pallet fork tilts, necessarily cause to store in a warehouse
The extreme lower position of container is lower than horizontal plane locating for target position, and water locating for the extreme lower position for container of storing in a warehouse and target position
The distance of plane can be determined by trigonometric function, and then determine the height of the extreme lower position of storage container.Illustratively, such as Fig. 5 b
Shown, inclined storage container MN, storage container XY, the angular deviation a of target position horizontal direction, storage container length determine
D, central point o, by triangle relation determine, store in a warehouse container MN extreme lower position M point and target position locating for horizontal plane away from
From tan (a) * d/2 is about scheduled, since the level height of target position is it is known that be based on this, target range determination unit can determine storehouse
The extreme lower position M point height of storage container MN.
The height according to the bottom surface of the destination layer of the height and base stock container of the extreme lower position of storage container determines again
Target range, target range determination unit control pallet fork and move target range vertically upward from target position, wherein target range
Greater than the difference in height of the bottom surface of the destination layer of the extreme lower position and base stock container of storage container, and after mobile target range,
The difference in height of the bottom surface of the extreme lower position of container of storing in a warehouse and the destination layer of base stock container is less than preset threshold.
Correspondingly, the vertical moving unit is also used to judge collected positioning identifier in water in the judging unit
It is when square upward angular deviation is not more than predetermined angle threshold value, the pallet fork is mobile vertically upward pre- from the target position
If distance.
High position forklift provided in this embodiment judges positioning mark after pallet fork to be adjusted to the position of face positioning identifier
Whether the angular deviation known in the horizontal direction is greater than predetermined angle threshold value, if so, recalculating pallet fork according to angular deviation
The target range of pan-up is needed, pallet fork is further accurately positioned with reaching, it is ensured that pallet fork accurately gives back storehouse when tilting
Storage container, and then storage container can be promoted and give back efficiency.
Example IV
The present embodiment is optimized based on above-described embodiment, and processing regulation module is also used to:
Indicate that the high position forklift carries storage container and is moved to predeterminated position, wherein predeterminated position is located at base stock
The front of container and with the distance between base stock container preconfigured in section.
In the present embodiment, before giving back storage container, high position forklift carries storage container and is moved to predeterminated position,
In, predeterminated position is located at the front of base stock container and with the distance between base stock container in preconfigured distance
In section, illustratively, predeterminated position is the region immediately ahead of base stock container in 20-30 centimetres.
Specifically, being provided with laser radar at the top of high position forklift.It, can before storage container task is given back in high position forklift execution
Control high position forklift is run one week in warehouse in advance, accurately according to the point cloud data building warehouse of laser radar acquisition
Figure.When storage container task is given back in high position forklift execution, processing module is based on laser slam technology, is acquired according to laser radar
To point cloud data construct the global map around high position forklift in real time, and by the global topic figure constructed in real time in advance construct
High-precision map carries out matching comparison, so that controlling high position forklift self-navigation is moved to predeterminated position.
Except this, after giving back module and giving back storage container, processing regulation module is also used to exit pallet fork, and controls under pallet fork
Drop to initial position.Corresponding operation is continued to execute so that high position forklift receives new instruction.
The high position forklift of the present embodiment, before giving back storage container, high position forklift carries storage container and is moved to predeterminated position,
Position guarantee is provided accurately to give back storage container, while after completing to give back task, pallet fork resets to initial position, so as to
High position forklift continues to execute other task, and the operating efficiency of high position forklift thus can be improved.
Embodiment five
Fig. 6 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention five provides, the present embodiment
It is applicable to high position forklift and takes the case where giving back the storage container of contain things after article, this method is provided by above-described embodiment
High position forklift execute, high position forklift includes pallet fork, and image acquisition device and range sensor are provided on pallet fork, Image Acquisition
Device is used for through capture setting in the positioning identifier on base stock container, and acquisition can characterize pallet fork and positioning identifier projects to finger
The image data of the positional relationship between the projected image on face is allocated, range sensor holds for measuring pallet fork and base stock
The distance between device, and obtain range data.As shown in fig. 6, what is provided in the embodiment of the present invention gives back the calibration of storage container
Method may include:
S110, after lifting storage container to the destination layer equal height with base stock container to be placed in pallet fork, root
According to image data, regulate and control the positional relationship of pallet fork and positioning identifier between the projected image in given plane.
S120, according to range data, regulate and control the distance between pallet fork and base stock container.
Regulate and control the distance between pallet fork and base stock container, that is to say shortening pallet fork and base stock container between away from
From to achieve the purpose that give back storage container.And when at a distance from regulation pallet fork is between base stock container, it also needs to consider storehouse
The attribute of storage container, can be based on the pallet fork that storage container attribute and range sensor acquire at a distance from base stock container, really
Fork of ordering goods gives back the required horizontal distance mobile towards base stock container direction when storage container.By the goods behind adjustment position
Fork is towards the mobile horizontal distance of base stock container direction, to give back the storage container.
The calibration method provided in this embodiment for giving back storage container is executed by corresponding high position forklift, and implementation principle is detailed in
Above-described embodiment, details are not described herein.
In the present embodiment, after pallet fork lifts storage container to base stock container designated position equal height, according to figure
As collector collected positioning identifier in real time, position of the adjust automatically pallet fork relative to base stock container, while according to storehouse
Storage container attribute and the pallet fork of range sensor acquisition are calculated at a distance from base stock container and are moved needed for giving back storage container
Horizontal distance improve returning for container of storing in a warehouse to achieve the purpose that precisely to give back storage container to stock container designated position
Also efficiency.
Embodiment six
Fig. 7 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention six provides.The present embodiment
It is optimized based on above-described embodiment, as shown in fig. 7, what is provided in the embodiment of the present invention gives back the calibration side of storage container
Method may include:
S210, after lifting storage container to the destination layer equal height with base stock container to be placed in pallet fork, lead to
Cross positioning identifier of the real-time capture setting of image acquisition device on the destination layer of base stock container.
S220, the position according to collected positioning identifier in image acquisition device shot image, by moving left and right or
The mode moved up and down adjusts pallet fork to target position, wherein in target location, the corresponding projected image of positioning identifier is located at
Preset standard position in image acquisition device shot image.
S230, pallet fork is moved into pre-determined distance from target position vertically upward, wherein pre-determined distance is according to positioning identifier
Height and base stock container destination layer bottom surface height determine.
S240, according to range data, regulate and control the distance between pallet fork and base stock container.
The calibration method provided in this embodiment for giving back storage container is executed by corresponding high position forklift, and implementation principle is detailed in
Above-described embodiment, details are not described herein.
In the present embodiment, after collecting positioning identifier, according to the corresponding projected image of positioning identifier in image acquisition device
Pallet fork is calibrated to target position in position by way of moving left and right or moving up and down pallet fork in shot image, and then pallet fork hangs down
Certain distance directly is moved up, the accurate positioning to pallet fork is realized with this, guarantees that pallet fork gives back the accuracy of storage container, can be mentioned with this
Rise storage container gives back efficiency.
Embodiment seven
Fig. 8 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention seven provides.The present embodiment
It is optimized based on above-described embodiment, as shown in figure 8, what is provided in the embodiment of the present invention gives back the calibration side of storage container
Method may include:
S310, after lifting storage container to the destination layer equal height with base stock container to be placed in pallet fork, lead to
Cross positioning identifier of the real-time capture setting of image acquisition device on the destination layer of base stock container.
S320, the position according to collected positioning identifier in image acquisition device shot image, by moving left and right or
The mode moved up and down adjusts pallet fork to target position, wherein in target location, the corresponding projected image of positioning identifier is located at
Preset standard position in image acquisition device shot image.
S330, judge whether the angular deviation of collected positioning identifier in the horizontal direction is greater than predetermined angle threshold value,
If so then execute S340, S350 is otherwise executed.
S340, the height of the extreme lower position of container of being stored in a warehouse according to angular deviation and storage container attribute determination, then according to storehouse
The height of the bottom surface of the destination layer of the height and base stock container of the extreme lower position of storage container determines target range, and by pallet fork
Target range is moved vertically upward from target position.
S350, pallet fork is moved into pre-determined distance from target position vertically upward, wherein pre-determined distance is according to positioning identifier
Height and base stock container destination layer bottom surface height determine.
S360, according to range data, regulate and control the distance between pallet fork and base stock container.
The calibration method provided in this embodiment for giving back storage container is executed by corresponding high position forklift, and implementation principle is detailed in
Above-described embodiment, details are not described herein.
In the present embodiment, after pallet fork to be adjusted to the position of face positioning identifier, judge positioning identifier in the horizontal direction
On angular deviation whether be greater than predetermined angle threshold value, if so, recalculating pallet fork according to angular deviation needs pan-up
Target range, pallet fork is further accurately positioned with reaching, it is ensured that pallet fork tilt when accurately give back storage container, Jin Erke
Promote storage container gives back efficiency.
Embodiment eight
Fig. 9 is a kind of flow chart for calibration method for giving back storage container that the embodiment of the present invention eight provides.The present embodiment
It is optimized based on above-described embodiment, as shown in figure 9, the calibration for giving back storage container provided in the embodiment of the present invention can
To include:
S410, carrying storage container are moved to predeterminated position, wherein predeterminated position is located at the front of base stock container
And with the distance between base stock container preconfigured in section.
S420, after lifting storage container to the destination layer equal height with base stock container to be placed in pallet fork, root
According to the image data that image acquisition device obtains, regulate and control the position of pallet fork and positioning identifier between the projected image in given plane
Relationship.
S430, the range data acquired according to range sensor, regulate and control the distance between pallet fork and base stock container.
S440, placed storage container after, exit pallet fork, and control pallet fork and drop to initial position.
The calibration method provided in this embodiment for giving back storage container is executed by corresponding high position forklift, and implementation principle is detailed in
Above-described embodiment, details are not described herein.
In the present embodiment, before giving back storage container, high position forklift carries storage container and is moved to predeterminated position, accurately to return
Also storage container provides position guarantee, while after completing to give back task, pallet fork resets to initial position, so as to high position forklift
Other task is continued to execute, the operating efficiency of high position forklift thus can be improved.
Embodiment nine
A kind of calibrating installation for giving back storage container that the embodiment of the present invention nine provides, is configured at the processing tune of high position forklift
It controls in module, high position forklift includes pallet fork, and two front ends of pallet fork are respectively arranged with image acquisition device and range sensor, and image is adopted
Storage is used for through capture setting in the positioning identifier on base stock container, and acquisition can characterize pallet fork and project to positioning identifier
The image data of the positional relationship between projected image in given plane, range sensor is for measuring pallet fork and base stock
The distance between container, and range data is obtained,.As shown in Figure 10, it illustrates the knots for the calibrating installation for giving back storage container
Structure schematic diagram, the device include:
Position adjusting type modules 510, for the pallet fork lift storage container to be placed to base stock container
After destination layer equal height, according to described image data, regulate and control the pallet fork and throwing of the positioning identifier in given plane
Positional relationship between shadow image；
Distance regulation module 520, for according to the range data, regulate and control the pallet fork and the base stock container it
Between distance.
In the present embodiment, after pallet fork lifts storage container to base stock container designated position equal height, acquisition is adjusted
Mould preparation root tuber is according to image acquisition device collected positioning identifier in real time, position of the adjust automatically pallet fork relative to base stock container
The range data set, while acquired according to range sensor regulates and controls the distance between pallet fork and base stock container, to realize essence
Standard gives back storage container to the purpose of stock container designated position, and improve storage container gives back efficiency.
On the basis of the various embodiments described above, position adjusting type modules include:
Target position adjustment unit, for according to collected positioning identifier in described image collector shot image
Position adjusts the pallet fork to target position, wherein in the target position by way of moving left and right or moving up and down
Place, the corresponding projected image of the positioning identifier are located at the preset standard position in image captured by described image collector；
Vertical moving unit, for the pallet fork to be moved pre-determined distance from the target position vertically upward, so that
The storage container of the pallet fork carrying is protruded into without barrier in the memory space of the base stock container；Wherein, described default
Distance is determined according to the height of the bottom surface of the destination layer of the height and base stock container of the positioning identifier.
On the basis of the various embodiments described above, position adjusts mould further include:
Judging unit, for vertical moving unit by pallet fork from the target position move vertically upward pre-determined distance it
Before, according to position of the collected positioning identifier in described image collector shot image, judge collected positioning identifier
Whether angular deviation in the horizontal direction is greater than predetermined angle threshold value；
Target range determination unit, for judging the angle of collected positioning identifier in the horizontal direction in judging unit
When spending deviation greater than predetermined angle threshold value, the minimum of the storage container is determined according to the angular deviation and storage container attribute
The height of position, then according to it is described storage container extreme lower position height and the base stock container destination layer bottom surface
Height determine target range, and the pallet fork is moved into target range from the target position vertically upward；The storage is held
Device attribute includes storage container length；
Correspondingly, the vertical moving unit is also used to judge collected positioning identifier in water in the judging unit
It is when square upward angular deviation is not more than predetermined angle threshold value, the pallet fork is mobile vertically upward pre- from the target position
If distance.
On the basis of the various embodiments described above, storage container attribute includes storage container width；
Correspondingly, being also used to apart from regulation module:
The distance between the pallet fork front end that the range sensor is acquired and base stock container, with the storage container
Width summation, it is required towards the base stock container place when giving back obtain and value to the storage container as the pallet fork
The mobile horizontal distance in direction.
On the basis of the various embodiments described above, the device further include:
Mobile module is used to indicate the high position forklift carrying storage container and is moved to predeterminated position, wherein is described
Predeterminated position is located at the front of the base stock container and is being pre-configured with the distance between the base stock container
In section.
On the basis of the various embodiments described above, positioning identifier is fixed at the fixation position of every layer of base stock container,
Wherein, fixed position includes base stock after pallet fork lifting storage container to the destination layer equal height with base stock container
On the destination layer of container with the position of image acquisition device face that is set on pallet fork.
On the basis of the various embodiments described above, the device further include:
Module is exited, for exiting pallet fork, and control pallet fork and drop to initial position after giving back storage container.
The calibrating installation that storage container is given back provided by the embodiment of the present invention can be performed any embodiment of that present invention and be mentioned
What is supplied gives back the calibration method of storage container, has the corresponding functional module of execution method and beneficial effect.
Embodiment ten
A kind of storage medium comprising computer executable instructions is provided in the embodiment of the present invention, the computer is executable
It instructs when being executed by computer processor for executing a kind of calibration method for giving back storage container, this method comprises:
After lifting storage container to the destination layer equal height with base stock container to be placed in pallet fork, according to image
The image data of collector acquisition regulates and controls the positional relationship of pallet fork and positioning identifier between the projected image in given plane；
According to range data, regulate and control the distance between pallet fork and base stock container.
Certainly, a kind of storage medium comprising computer executable instructions provided in the embodiment of the present invention calculates
The method operation that machine executable instruction is not limited to the described above, can also be performed and give back provided in any embodiment of that present invention
Relevant operation in the calibration method of storage container.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of high position forklift, which is characterized in that including pallet fork, image acquisition device, range sensor, processing regulation module；Institute
Processing regulation module is stated to be electrically connected with the pallet fork, described image collector, the range sensor respectively；Wherein:
The pallet fork includes the first pallet fork and the second pallet fork, for carrying storage container to be placed；
Described image collector is arranged on first pallet fork, for passing through capture setting in the positioning on base stock container
Mark, the pallet fork can be characterized and the positioning identifier projects to positional relationship between the projected image in given plane by obtaining
Image data；
The range sensor is set on second pallet fork, for measuring between the pallet fork and the base stock container
Distance, and obtain range data；
The processing regulates and controls module, for the pallet fork lift storage container to be placed to the base stock container
After destination layer equal height, according to described image data, regulate and control the pallet fork and throwing of the positioning identifier in given plane
Positional relationship between shadow image；And according to the range data, regulate and control between the pallet fork and the base stock container
Distance.
2. high position forklift according to claim 1, which is characterized in that the processing regulates and controls module and includes:
Target position adjustment unit, for the position according to collected positioning identifier in described image collector shot image
It sets, controls the pallet fork and move to target position by way of moving left and right or moving up and down；In the target location, institute
The corresponding projected image of positioning identifier is stated, the preset standard position in the image captured by the described image collector；
Vertical moving unit moves pre-determined distance from the target position for controlling the pallet fork, so that institute vertically upward
The storage container for stating pallet fork carrying is protruded into without barrier in the memory space of the base stock container；The pre-determined distance is root
It is determined according to the height of the bottom surface of the destination layer of the height and base stock container of the positioning identifier.
3. high position forklift according to claim 1, which is characterized in that the processing regulates and controls module further include:
Judging unit, for vertical moving unit by the pallet fork from the target position move vertically upward pre-determined distance it
Before, according to position of the collected positioning identifier in described image collector shot image, judge collected positioning identifier
Whether angular deviation in the horizontal direction is greater than predetermined angle threshold value；
Target range determination unit, for judging the angle of collected positioning identifier in the horizontal direction in the judging unit
When spending deviation greater than predetermined angle threshold value, the minimum of the storage container is determined according to the angular deviation and storage container attribute
The height of position, then according to it is described storage container extreme lower position height and the base stock container destination layer bottom surface
Height calculate target range, and control the pallet fork and move target range vertically upward from the target position；The storage
Container attribute includes storage container length；
The vertical moving unit is also used to judge collected positioning identifier in the horizontal direction in the judging unit
When angular deviation is not more than predetermined angle threshold value, the pallet fork is moved into pre-determined distance from the target position vertically upward.
4. high position forklift according to claim 1, which is characterized in that the storage container attribute includes that storage container is wide
Degree；
The processing regulation module is also used to:
The distance between the pallet fork front end that the range sensor is acquired and base stock container, with the storage container width
Summation, it is required towards the base stock container direction when giving back obtain and value to the storage container as the pallet fork
Mobile horizontal distance.
5. high position forklift according to claim 1, which is characterized in that the processing module is also used to:
Indicate that the high position forklift carries the storage container and is moved to predeterminated position, wherein the predeterminated position is located at described
The front of base stock container and with the distance between the base stock container preconfigured in section.
6. any high position forklift in -5 according to claim 1, which is characterized in that the positioning identifier is fixed at institute
State the fixation position of every layer of base stock container, wherein the fixed position includes that pallet fork lifting storage container arrives and mesh
After the destination layer equal height for marking stock container, on the destination layer of the base stock container with the figure that is set on the pallet fork
As the position of collector face.
7. high position forklift according to claim 1, which is characterized in that the processing module is also used to:
After giving back the storage container, pallet fork is exited, and controls the pallet fork and drops to initial position.
8. a kind of calibration method for giving back storage container, which is characterized in that executed by high position forklift, the high position forklift includes goods
Fork, and is provided with image acquisition device and range sensor on the pallet fork, described image collector be used for by capture setting in
Positioning identifier on base stock container, the throwing that the pallet fork is projected to the positioning identifier in given plane can be characterized by obtaining
The image data of positional relationship between shadow image, the range sensor hold for measuring the pallet fork and the base stock
The distance between device, and obtain range data, wherein the described method includes:
The pallet fork lift storage container to be placed to after the destination layer equal height of the base stock container, according to
Described image data regulate and control the positional relationship of the pallet fork and the positioning identifier between the projected image in given plane；
According to the range data, regulate and control the distance between the pallet fork and the base stock container.
9. according to the method described in claim 8, it is characterized in that, according to described image data, regulate and control the pallet fork with it is described
Positional relationship of the positioning identifier between the projected image in given plane, comprising:
According to position of the collected positioning identifier in described image collector shot image, by move left and right or on move down
Dynamic mode adjusts the pallet fork to target position；Wherein, in the target location, the corresponding perspective view of the positioning identifier
Picture, the preset standard position in the image captured by the described image collector；
The pallet fork is moved into pre-determined distance from the target position vertically upward, so that the storage container of pallet fork carrying
It is protruded into the memory space of the base stock container without barrier；Wherein, the pre-determined distance is according to the positioning identifier
Height and the base stock container destination layer bottom surface height determine.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The calibration method for giving back storage container as described in any in claim 8-9 is realized when execution.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910272981.8A CN109987550B (en) | 2019-04-04 | 2019-04-04 | Calibration method and storage medium for high-position forklift and returning storage container |
| EP19923051.7A EP3950566B1 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
| US17/600,544 US11958687B2 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
| PCT/CN2019/102910 WO2020199471A1 (en) | 2019-04-02 | 2019-08-27 | High-position robot, method for calibrating return of storage container, and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910272981.8A CN109987550B (en) | 2019-04-04 | 2019-04-04 | Calibration method and storage medium for high-position forklift and returning storage container |
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| CN109987550A true CN109987550A (en) | 2019-07-09 |
| CN109987550B CN109987550B (en) | 2021-03-19 |
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| CN112027469A (en) * | 2020-10-14 | 2020-12-04 | 河南中烟工业有限责任公司 | Tunnel stacker and three-dimensional goods shelf space position monitoring system |
| CN112340339A (en) * | 2020-11-09 | 2021-02-09 | 苏州罗伯特木牛流马物流技术有限公司 | Control system and method for accurately placing roadway for fork type AGV (automatic guided vehicle) carrying shuttle car |
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