Fork-Mounted 3D LiDAR and Camera for Precise Object Pose Detection
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Solution Overview
Problem
Existing handling devices equipped with 2D laser radars struggle to accurately pick up objects due to interference from protective films and inconsistent point cloud data, leading to low picking efficiency.
Innovation Solution
A handling device with a 3D laser radar and a camera mounted on the fork assembly, which collects 3D point cloud data and image data respectively, allowing the controller to determine the pose and fork insertion position of the object accurately, ensuring precise alignment and pickup.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a 2D laser radar is used to collect point cloud data, then the device structure is simple, but the identification accuracy of object pose and fork insertion position is low due to interference from protective films and inconsistent point cloud data
Solution Approach 1:
The patent combines a 3D laser radar and a camera into an integrated sensing system mounted on the fork assembly. The 3D laser radar collects spatial point cloud data while the camera captures visual information, and both sensors work together to determine object pose and fork insertion position, resolving the limitation of 2D laser radars affected by protective films
Solution Approach 2:
The patent transitions from 2D point cloud data collection to 3D point cloud data collection by using a 3D laser radar. This dimensional upgrade enables accurate measurement of object height, depth, and spatial position, overcoming the insufficient depth information and interference issues inherent in 2D scanning systems
2Measurement precision
If the 3D laser radar and camera are mounted on the fork assembly, then the identification accuracy of object pose and fork insertion position is improved, but the device complexity increases
Solution Approach 1:
The fork assembly serves multiple functions: it is both the mechanical component that physically handles objects and the mounting platform for the 3D laser radar and camera. This multi-functional design integrates sensing and actuation into a single module, improving measurement accuracy while managing device complexity through functional consolidation
Solution Approach 2:
The controller acts as an intermediary that receives data from both the 3D laser radar and camera, processes the information to determine object pose and fork insertion position, and then controls the fork assembly movement. This intermediary processing layer coordinates the complex interactions between multiple sensors and the mechanical system
3Productivity
If the fork assembly is controlled to align with the fork insertion position based on 3D point cloud data and image data, then the picking up efficiency is improved, but the control system complexity increases
Solution Approach 1:
The system performs preliminary actions by first using the 3D laser radar to identify object pose and the camera to determine fork insertion position before the fork assembly makes contact with the object. This pre-positioning and pre-planning enable accurate alignment and efficient picking up operations
Solution Approach 2:
The controller continuously receives real-time data from the 3D laser radar and camera during the picking up process, compares the actual fork assembly position with the target insertion position, and adjusts the fork assembly movement accordingly. This closed-loop feedback control ensures accurate alignment while maintaining high picking up efficiency
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The use of 3D laser radar and camera enhances the accuracy of identifying the object's pose and fork insertion position, significantly improving the efficiency and reliability of the handling device in picking up objects.
Implementation Method 1
a 3D laser radar on the fork assembly and configured to collect 3D point cloud data of the to-be-handled object
Implementation Method 2
a camera on the fork assembly and configured to collect image data of the to-be-handled object
Data Source
AI summary
By providing a 3D laser radar and a camera on a fork assembly of the handling device, the 3D laser radar and the camera can move relative to a device body of the handling device along with the fork assembly. When the 3D laser radar and the camera move along with the fork assembly to a position corresponding to an object, the 3D laser radar collects 3D point cloud data of the object and the camera collects image data of the object, and a controller of the handling device can determine, based on the 3D point cloud data, pose information of the object, and determine, based on the image data, a fork insertion position of the object, and control, based on the pose information and the fork insertion position, the fork assembly to align with the fork insertion position of the object to pick up the object.