Fork-Tip LIDAR Scanning for Accurate Pallet Engagement
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Solution Overview
Problem
Existing pallet transport systems face challenges in accurately identifying and engaging pallets due to issues such as shadowing by fork bodies and obstruction by debris or damaged pallets, which affect the reliability of sensors mounted on the backplate.
Innovation Solution
The system incorporates a pallet transport system with forks equipped with sensors, specifically scanning LIDAR sensors, positioned at the fork tips to collect data on the environment. This configuration allows for accurate identification of pallets and their orientation, enabling the vehicle to align its forks with the pallet pockets.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors are mounted on the backplate of the pallet transport, then the system can detect pallets, but the detection accuracy deteriorates due to shadowing by fork bodies and obstruction by debris or damaged pallets
Solution Approach 1:
The patent introduces an intermediary sensor platform (the fork tip itself) to mediate the detection process. By mounting sensors directly on the fork tips rather than on the backplate, the system eliminates the shadowing and obstruction problems caused by the fork bodies and debris, allowing direct detection of pallet pockets without interference from other components
Solution Approach 2:
The patent changes the spatial dimension of sensor placement from the backplate (rear dimension) to the fork tips (front dimension). This dimensional shift allows sensors to be positioned in a location that is not obscured by the fork bodies or debris, fundamentally changing the detection geometry to eliminate shadowing effects
2Measurement precision
If sensors are positioned at the fork tips, then pallet identification accuracy improves, but the device complexity increases due to additional sensor mounting requirements
Solution Approach 1:
The patent merges the sensor mounting structure with the existing fork tip structure. By integrating sensors directly into the fork tips, the system eliminates the need for separate sensor mounting mechanisms on the backplate, reducing overall device complexity while improving measurement precision through the strategic repositioning of sensors to where they are most effective
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 solution enables precise engagement of pallets by overcoming the limitations of traditional sensor placement, improving the accuracy and reliability of pallet identification and orientation determination, and allowing for efficient navigation and loading operations.
Implementation Method 1
Each fork tip includes a sensor, such as a planar laser scanner or other types of sensors useful for this purpose.
Implementation Method 2
Each fork tip includes a sensor, such as a planar laser scanner or other types of sensors useful for this purpose.
Data Source
AI summary
A transport vehicle, such as a vision guided vehicle, can comprise a drive portion constructed to facilitate movement of the transport vehicle and a load portion constructed to engage an object of interest. The load portion can comprise an object engagement apparatus and at least one sensor coupled to or disposed within a distal end of the object engagement apparatus, wherein the sensor can be at least a 2D sensor. The engagement apparatus can comprise forks, at least one fork having sensor coupled to or disposed within a fork tip. The 2D sensor can comprise a scanning LIDAR sensor arranged to collect information to identify a pickable pallet, for example.