Forklift Floor-Roughness Localization Using Projected Light
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Solution Overview
Problem
Existing localization technologies for vehicles on moving floors, such as industrial trucks, face high costs, installation challenges, limited accuracy, and require extensive infrastructure modifications, with limited extensibility and sensory stability.
Innovation Solution
A method utilizing a laser light projector to create a roughness image of the driving floor by projecting a pattern at an acute angle and detecting changes with a camera, allowing for vehicle localization without relying on artificial landmarks or optical flow, using a data processing unit to evaluate the shifts in the projection pattern for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If state-of-the-art localization technologies (induction loops, magnetic localization, laser localization with reflectors, GPS) are used, then localization accuracy is improved, but sensor costs and device complexity increase significantly
Solution Approach 1:
The patent uses a camera to capture images of the ground surface, creating a visual copy of the terrain features. This optical copy is then processed to extract localization information, replacing expensive specialized sensors with a standard camera system that can infer position from visual patterns of the ground itself
Solution Approach 2:
The ground surface itself serves as the localization reference without requiring artificial markers or infrastructure. The natural texture and features of the ground provide the measurement basis, eliminating the need for externally installed reflectors, magnetic markers, or induction loops
2Measurement precision
If laser localization with reflectors or artificial landmarks is used, then localization accuracy is improved, but infrastructure modifications and installation effort increase
Solution Approach 1:
The ground surface provides the localization reference naturally without requiring artificial markers. The system uses the inherent texture, color variations, and features of the ground itself as the measurement basis, eliminating infrastructure modifications
Solution Approach 2:
The camera system serves multiple functions: it captures ground texture for localization, can detect obstacles, and provides visual feedback. This multi-functional approach replaces specialized single-purpose systems like reflector arrays or magnetic marker installations
3Device complexity
If traditional optical sensors or cameras are used for ground detection, then device complexity is reduced, but measurement precision and reliability deteriorate due to limited accuracy and sensor instability
Solution Approach 1:
The patent analyzes the ground surface in multiple image dimensions (horizontal and vertical pixel coordinates) to extract position information. By utilizing the full 2D image data and processing changes across multiple dimensions, the system achieves high precision with simple sensors
Solution Approach 2:
The system continuously captures sequential images and compares ground feature positions between frames to determine vehicle movement. This feedback loop of continuous measurement and comparison enhances localization accuracy and reliability over time using simple camera hardware
4Measurement precision
If artificial landmarks or barcodes are installed on the ground, then localization accuracy is improved, but the system requires extensive mapping and maintenance efforts
Solution Approach 1:
The ground surface itself serves as the permanent, maintenance-free reference. Natural ground features do not require installation, mapping, or maintenance, providing unlimited scalability without additional infrastructure management
Solution Approach 2:
Instead of placing artificial markers on the ground to create reference points, the system inverts the approach by using the ground's natural features as references and detecting them with a camera, eliminating the need for marker installation and maintenance
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
This approach enables reliable vehicle localization with minimal infrastructure effort, using existing sensors and offering improved accuracy and cost-effectiveness, while reducing the need for complex computations and infrastructure modifications.
Implementation Method 1
the projection pattern is detected by means of an optical sensor arranged on the vehicle
Data Source
Figure 1~2
Figure 3~4
Figure 5
AI summary
The invention relates to a method for locating a vehicle (1), in particular a forklift truck, moving on a driving surface (5), and to a vehicle (1) for carrying out the method. It is proposed that a projection pattern (7) be projected onto the driving surface (5) by means of a projection unit (3) arranged on the vehicle (1), that the projection pattern (7) be detected by means of an optical sensor (4) arranged on the vehicle (1), and that the sensor data be evaluated in a data processing unit, wherein a roughness image of the driving surface (5) is generated from changes in the projection pattern (7) due to irregularities in the driving surface (5), which enables the localization of the vehicle (1) on the driving surface (5).