Image Measurement Method for Automatic Insertion of Forks into Inclined Pallet
Nobuyuki Kita, Takuro Kato

TL;DR
This paper presents an image measurement method using a wide-angle camera to automatically control a forklift's fork insertion by accurately measuring pallet inclination and calibration between camera and fork systems.
Contribution
It introduces a novel image measurement technique for estimating pallet tilt and calibration data to enable autonomous fork insertion in forklifts.
Findings
Error within allowable range for safe fork insertion
Effective measurement of pallet inclination and position
Calibration method improves measurement accuracy
Abstract
In order to insert a fork into a hole of a pallet by a forklift located in front of a pallet, it is necessary to control the height position, reach position, and tilt angle of the fork to match the position and orientation of the hole of the pallet. In order to make AGF (Autonomous Guided Forklift) do this automatically, we propose an image measurement method to measure the pitch inclination of the pallet in the camera coordinate system from an image obtained by using a wide-angle camera. In addition, we propose an image measurement method to easily acquire the calibration information between the camera coordinate system and the fork coordinate system necessary to apply the measurements in the camera coordinate system to the fork control. In the experiment space, a wide-angle camera was fixed at the backrest of a reach type forklift. The wide-angle images taken by placing a pallet in…
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Taxonomy
TopicsOptical measurement and interference techniques · Image and Object Detection Techniques · Image Processing Techniques and Applications
