Verfahren für Automatisierten Gabelstapler-Palettentransfer mit Einfacher Kamerakalibrierung

Details

Veröffentlichungs-Nr.

EP4768420

Anmeldetag

30. Dezember 2024

Veröffentlichung

1. Juli 2026

Rechtsraum

EP

IPC

B66F9/075

Abstract

An enhanced method for automated forklift (10, 20) pallet (90) transfer is disclosed, wherein camera (100, 101) calibration, essential for accurate pallet (90) pose estimation, is performed without external markers. The calibration assumes the camera (100, 101) yaw is initially set to 0 by mechanical means. The camera (100, 101) pitch and roll are calculated from the camera (100, 101)'s image (101). Specifically, each captured image (101) shows parallel forks (20) whose longest outer edges converge at a vanishing point, VP, distinct from the image (101) center IC. Using other pairs of mutually parallel and opposite planes one facing the other, and forks (20)' symmetry, together with the ground plane (1, 2) normal vector, enables the calculation of coordinate transformation TFC and the inverse coordinate transformation TCF , where C and F represent the camera (100, 101) and forklift (10, 20) coordinate systems, respectively. This method simplifies camera (100, 101) calibration and facilitates accurate pallet (90) picking.

Anmelder

Firma

RoMb Technologies d.o.o.

Land

🇭🇷 Kroatien

Fachgebiete