A method is provided for identifying one or more scored candidate objects that may correspond to one or more actual pallets in a gray scale image. The method may comprise: identifying, by a computer, a first plurality of scored candidate objects in the gray scale image; storing, by the computer, a starting list of the first plurality of scored candidate objects, wherein the starting list includes a respective record for each of the first plurality of scored candidate objects that includes a respective location of the scored candidate object within the gray scale image, and a respective composite object score that represents a likelihood that the scored candidate object corresponds to an actual pallet structure in the gray scale image; and removing from the starting list each of the first plurality of scored candidate objects which: a) is located within a predetermined vertical distance of a particular one of the first plurality of scored candidate objects; and b) has a respective composite score less than that of the particular one scored candidate object.

Selecting objects within a vertical range of one another corresponding to pallets in an image scene

A method is provided for controlling forks of a vehicle. The method may comprise: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.

Controlling truck forks based on identifying and tracking multiple objects in an image scene

An image of a physical environment is acquired that comprises a plurality of pixels, each pixel including a two-dimensional pixel location in the image plane and a depth value corresponding to a distance between a region of the physical environment and the image plane. For each pixel, the two dimensional pixel location and the depth value is converted into a corresponding three-dimensional point in the physical environment defined by three coordinate components, each of which has a value in physical units of measurement. A set of edge points is determined within the plurality of three-dimensional points based, at least in part, on the z coordinate component of the plurality of points and a distance map is generated comprising a matrix of cells. For each cell of the distance map, a distance value is assigned representing a distance between the cell and the closest edge point to that cell.

Pallet detection using units of physical length

A method of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.

Identifying, matching and tracking multiple objects in a sequence of images

The utility model provides a four-way forklift structure applied to the field of forklift equipment. The forklift structure comprises a forklift body pedestal (1). The front end of the bottom of the forklift body pedestal (1) is provided with a universal wheel (2) and a directional wheel (3); the back end of the forklift body pedestal (1) is provided with a driving wheel (4); the directional wheel (3) is connected with a hydraulic oil cylinder (5) driving the directional wheel (3) to rotate; the hydraulic oil cylinder (5) is connected with an operating switch (6) controlling the hydraulic oil cylinder to extend and contract; the driving wheel (4) is connected with a steering motor (7) via a gear assembly (26); the steering motor (7) is in a connection with a steering wheel (8) controlling the steering motor (7) to rotate; the driving wheel (4) is in a connection with a driving component (17); and the driving component (17) is connected with a control component (18). The four-way forklift structure can be conveniently operated with low steering driving noise; and with the four-way forklift structure, the forklift can drive in four directions, thereby improving maneuvering performance of the forklift.

Four-way forklift structure

The utility model relates to a fork position displaying device of a fork truck, which aims to solve the problem of the prior fork truck that the relative position between the fork and the cargo to be loaded is difficult to determine in high-level operation, and comprises a camera fixedly arranged on the inner side of the fork and an LCD arranged in the driver cab of the fork truck, wherein the camera is in signal connection with an image processor, and the image processor is connected with the LCD through a data wire. With the aid of the camera, the relative position between the fork and the cargo to be loaded can be obtained, and the image thereof can be obtained through the LCD, and therefore the operator can have a clear idea of the positions of the fork and the cargo to be loaded. And as a result, the safety thereof is enhanced and the working efficiency thereof is improved.

Fork position displaying device of fork truck

The utility model relates to a hierarchical speed governing device of a fork truck portal frame, which aims to solve the problem of the forklift series fork truck applied in the prior market that the lifting speed of the portal frame is hard to control, and safety hazard lurks therein, and has a structure that height sensors are fixedly arranged on the two corresponding guide rails of the portal frame, the height sensors are in signal connection with the input end of a programmable controller, one output end of the programmable controller is in signal connection with a monitor, the other output end of the programmable controller is in signal connection with an adjustable speed circuit, and the adjustable speed circuit is in signal connection with a drive motor The utility model adopts the height sensors to monitor the lifting height of the portal frame, and adopts the height sensor signals after being processed by the programmable controller to adjust the lifting speed of the portal frame, thereby ensuring the safety and stability in loading cargo

Hierarchical speed governing device of fork truck portal frame

The utility model relates to an electronic steering device of a fork truck, which aims to solve the problems of the prior fork truck that as the steering thereof relies on mechanical transmission or hydraulic system, the steering thereof is not flexible enough, and comprises a step motor, an electric power-assisted steering assembly, a controller, a spacing sensor, a proximity switch, a monitor, and an AC servo motor, wherein the revolving shaft mounted with the steering handwheel is connected coaxially with the step motor, the step motor is in signal connection with the electric power-assisted steering assembly controller, the spacing sensor and the proximity switch are arranged in parallel on the two sides of the steering wheel and are in signal connection with the electric power-assisted steering assembly controller, the monitor is in signal connection with the electric power-assisted steering assembly controller, the output end of the electric power-assisted steering assembly controller is connected with the AC servo motor, and the output shaft of the AC servo motor is in combined connection with the power shaft of a steering mechanism. The utility model adopts the electronic steering device, and therefore the defects of mechanical or hydraulic steering device are overcome, and the steering becomes convenient and flexible.

Electronic steering device of fork truck

The utility model relates to a fork truck position guiding device, which aims to the solve the problem that as the fork truck enters a narrow and long lane, the surrounding articles can be easily touched and hit by the truck, thereby triggering a dangerous event to cause accident, and comprises a magnetic track, magnetic sensors, a processor and an electric power-assisted steering assembly controller, wherein the magnetic track is laid in parallel on the two sides of the lane, the magnetic sensors are fixedly arranged on the left and the right sides of the fork truck, the magnetic sensors are in signal connection with the input end of the processor, and the output end of the processor is in signal connection with the electric power-assisted steering assembly controller. The utility model utilizes the electromagnetic induction and the processor to automatically control the vehicle to drive in straight line along the central axis of the lane in the lane, so as to ensure the safety of driving.

Chun Chen

Papers

Fork position displaying device of fork truck

Hierarchical speed governing device of fork truck portal frame

Electronic steering device of fork truck

Fork truck position guiding device