Forklift Orientation via Camera Image Geometry
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Solution Overview
Problem
Existing methods for determining the orientation of industrial trucks relative to structures with horizontal elements are not sufficiently simple or reliable.
Innovation Solution
A procedure using a camera-equipped industrial truck to record images of structures with horizontal elements, determine geometric sizes within the image, and calculate a cutting angle between the image plane and a vertical plane to accurately orient the truck.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing methods for determining orientation are used, then orientation can be determined, but the method is not sufficiently simple or reliable
Solution Approach 1:
The patent replaces complex mechanical orientation determination systems with an optical system using a camera and image processing. The camera captures images of horizontal elements in the warehouse structure, and software algorithms automatically determine the truck's orientation from these images, eliminating the need for complex mechanical sensors or manual measurement devices.
Solution Approach 2:
The patent creates a two-dimensional image copy of the three-dimensional warehouse structure and horizontal elements. By processing this image copy to identify horizontal lines and calculate their angles, the system determines truck orientation without physically interacting with the structure, simplifying the measurement process while maintaining accuracy.
2Reliability
If complex orientation determination methods are used, then reliability improves, but operational efficiency decreases
Solution Approach 1:
The camera continuously captures images of the warehouse structure as the truck moves, and the image processing system continuously calculates orientation data. This continuous operation ensures reliable orientation determination without interrupting the truck's workflow, maintaining productivity while ensuring accurate orientation data is always available.
Solution Approach 2:
The system uses the truck's own camera and onboard processing capabilities to determine its orientation autonomously. The truck self-measures its orientation relative to warehouse structures without requiring external measurement equipment or human intervention, streamlining the process and maintaining operational efficiency.
3Productivity
If simple orientation methods are used, then operational efficiency is maintained, but determination reliability is insufficient
Solution Approach 1:
The patent transitions from two-dimensional image data to three-dimensional orientation information by analyzing the angles of horizontal lines in the image plane and mathematically converting these to spatial orientation angles. This dimensional transformation allows simple image capture to yield precise three-dimensional orientation data, maintaining efficiency while improving measurement precision.
Solution Approach 2:
The system changes the parameter being measured from direct physical measurements to angular relationships in image space. By measuring the angles of horizontal lines in the captured image and using trigonometric relationships to derive the truck's orientation angle, the system achieves high measurement precision through mathematical parameter transformation rather than complex physical measurement.
Data Source
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AI summary
Method for determining the orientation of a forklift truck relative to a structure with at least one horizontal element, wherein the forklift truck has a camera directed at the structure, the method comprising the following steps: o Recording an image of the structure with the at least one horizontal element, o Determining at least two geometric quantities in the recorded image corresponding to the horizontal element, and o Determining an angle of intersection between an image plane and a vertical plane through the horizontal element from the at least two geometric quantities.