1. Ta.p ch´ı Tin ho. c v`a Diˆe` u khiˆe’n ho. c, T.26, S.3 (2010), 267–277
X´AC DI.NH VI. TR´I C´AC GI´A D˜O
.
H`ANG
SU
.’ DU. NG CHO XE TU
.
. DˆO. NG BˆO´C XˆE´P TRONG KHO CA’ NG
PHA. M D´U
.
C LONG
Khoa Cˆong nghˆe. thˆong tin, Da. i ho. c Th´ai Nguyˆen
Abstract. Nowadays, the research on developing visional autonomous forklifts for engagement and
move pallets in the store is interested in research on the world. The speed of computing location
and orientation of pallet on the serial computer is slow, because amount of work in image processing
is huge. This paper addresses early results of using parallel processing cellular neural network in
determining the position and orientation of pallet to improve the image processing speed.
T´om t˘a´t. Nghiˆen c´u.u chˆe´ ta.o c´ac xe nˆang h`ang tu.
. dˆo.ng (autonomous forklift) quan s´at b˘a`ng camera
dˆe’ di chuyˆe’n h`ang ho´a trong kho b˜ai, ca’ng l`a mˆo.t l˜ınh vu.
. c dang du.o.
.c quan tˆam trˆen thˆe´ gi´o.i. Vˆa´n
dˆe` x´ac di.nh vi. tr´ı v`a hu.´o.ng cu’a gi´a d˜o. h`ang (pallet) c`on chˆa.m do tˆo´c dˆo. cu’a c´ac chu.o.ng tr`ınh xu.’ l´y
a’nh d`ung m´ay t´ınh xu.’ l´y tuˆa`n tu.
. khˆong cao. Trong b`ai b´ao n`ay ch´ung tˆoi du.a ra mˆo.t sˆo´ kˆe´t qua’
nghiˆen c´u.u ban dˆa`u vˆe` x´ac di.nh vi. tr´ı v`a hu.´o.ng cu’a gi´a d˜o. h`ang t`u. a’nh theo cˆong nghˆe. ma.ng CNN
t˘ang tˆo´c dˆo. xu.’ l´y cu’a hˆe. thˆo´ng.
1. D ˘A. T V ˆA´N DˆE`
C´ac th`ung, kiˆe.n h`ang trong kho ca’ng du.o.
. c d˘a.t trˆen c´ac gi´a d˜o. (pallet). C´ac gi´a d˜o. n`ay
d˜a du.o.
. c tiˆeu chuˆa’n ho´a. Hiˆe.n nay c´o nhiˆe` u loa.i gi´a d˜o. h`ang cu’a nhiˆe` u nu.´o.c cˆong nghiˆe.p trˆen
thˆe´ gi´o.i. Theo tiˆeu chuˆa’n ISO 6780 c´o 6 loa.i pallet su.’ du. ng o.’ B˘a´c M˜y, ´Uc, Chˆau ´A, Nam
M˜y, chˆau ˆAu ... Hiˆe.n nay thˆong du. ng nhˆa´t l`a loa.i theo tiˆeu chuˆa’n chˆau ˆAu (EU) c`on go.i l`a
CEN pallet.
H`ınh 1. Gi´a d˜o. h`ang (pallet) v`a xe nˆang ha. vˆa.n chuyˆe’n h`ang (forklift)
Khi thu.
. c hiˆe.n xˆe´p r˜o. h`ang trong kho ca’ng ngu.`o.i dıˆe`u khiˆe’n xe nˆang-vˆa.n chuyˆe’n l´ai xe
dˆe´n no.i d˘a.t gi´a d˜o., d`ung hai c`ang cu’a xe m´oc v`ao gi´a d˜o. sau d´o l´ai xe dˆe´n no.i cˆa`n thiˆe´t v`a
ha. kiˆe.n h`ang xuˆo´ng. Viˆe.c ta.o ra c´ac xe tu.
. dˆo.ng (thu.
. c chˆa´t l`a c´ac robot) thay thˆe´ con ngu.`o.i
ho`an to`an qu´a tr`ınh trˆen l`a cˆong viˆe.c tu.
. dˆo.ng h´oa v´o.i m´u.c dˆo. cao viˆe.c xˆe´p d˜o. h`ang trong
c´ac kho ca’ng, l`am gia’m th`o.i gian xˆe´p d˜o., t˘ang hˆe. sˆo´ su.’ du. ng c´ac kho ca’ng v`a gia’m nhˆan
cˆong vˆa.n h`anh tru.
. c tiˆe´p.