| QIAN Libing(钱立兵)* ** ***,XU Jinbao* ***,XU Hongli**,LIU Jihai* ***,ZHANG Huan* ***.[J].高技术通讯(英文),2025,31(2):204~210 |
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| A method for measuring the height of AGV end vehicle based on depth vision |
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| DOI：10. 3772 / j. issn. 1006-6748. 2025. 02. 010 |
| 中文关键词: |
| 英文关键词: automated guided vehicle (AGV), vehicle detection, vehicle height measurement, multi-layer stack,non-standard vehicle |
| 基金项目: |
| Author Name | Affiliation | | QIAN Libing(钱立兵)* ** *** | (* Anhui Forklift Group Corporation Ltd. , Hefei 230601, P. R. China)
(** School of Computer Science and Technology, University of Science and Technology of China, Hefei 230026, P. R. China)
(*** Key Laboratory of Industrial Vehicles of Anhui Province, Hefei 230601, P. R. China) | | XU Jinbao* *** | | | XU Hongli** | | | LIU Jihai* *** | | | ZHANG Huan* *** | |
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| 中文摘要: |
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| 英文摘要: |
| Traditional automated guided vehicle (AGV) primarily relies on scheduling systems to manage warehouse locations and execute picking or placing tasks on fixed-height pallets. However, these conventional systems are ill-suited for scenarios involving variable heights, such as vehicle loading and unloading or the complex stacking of soft packages. To address the challenges of AGV end-effector operations in non-fixed height scenarios, this paper proposes an innovative solution leveraging low-cost depth camera sensors. By capturing image and depth data, and integrating deep learning,image processing, and spatial attitude calculation techniques, the method accurately determines the position of the end-effector center point relative to the upper plane of the fork. The approach effectively resolves a key issue in AGV operations within intelligent logistics scenarios that lack fixed heights. The proposed algorithm is deployed on a domestic embedded, low-cost ARM chip controller, and extensive experiments are conducted on a real AGV equipped with multiple stacked vehicles and non-standard vehicles. The experimental results demonstrate that for diverse vehicles with different heights, the measurement error can be maintained within ± 10 mm, satisfying the requirements for high-precision measurement. The height measurement method developed in the paper not only enhances the AGV’s adaptability in non-fixed height scenarios but also significantly broadens its application potential across various industries. |
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