The invention discloses a pallet carrying method and device based on machine vision and a storage medium, and the pallet carrying method based on machine vision comprises the steps that an initial path is segmented according to the obtained pallet orientation and forklift orientation, and a plurality of path segments are obtained, the initial path is obtained by planning based on the obtained pallet initial coordinates and forklift initial coordinates; clustering the point cloud information of a target path segment in the plurality of path segments to obtain a point cloud clustering block; and controlling the forklift to carry the pallets according to the real-time coordinates of the pallets determined by the point cloud clustering blocks and a preset deviation threshold value. According to the scheme, the carrying precision of the forklift can be improved.
本申请公开了一种基于机器视觉的栈板搬运方法、设备以及存储介质,该基于机器视觉的栈板搬运方法包括:根据获取到的栈板朝向和叉车朝向将初始路径进行分段,得到多个路径段,初始路径基于获取到的栈板初始坐标和叉车初始坐标进行规划得到;对多个路径段中目标路径段的点云信息进行聚类,得到点云聚类块;根据点云聚类块确定的栈板实时坐标和预设的偏差阈值控制叉车进行栈板搬运。上述方案,能够提升叉车的搬运精度。
Pallet carrying method and equipment based on machine vision and storage medium
基于机器视觉的栈板搬运方法、设备以及存储介质
2024-02-20
Patent
Electronic Resource
Chinese
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 |