Forklift Load Height Estimation with Off-Axis Marker Imaging
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Solution Overview
Problem
Existing systems struggle to accurately estimate the height of objects moved by mobile bodies like forklifts due to the camera's limited view when positioned on the extension line of the backrest's movement, preventing effective detection of markers on the backrest.
Innovation Solution
The system employs a spherical camera positioned off the vertical axis of the forklift's up-and-down movement to capture images of markers on the backrest, allowing for accurate height estimation of objects using image recognition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the camera is disposed on the extension line of the backrest's movement direction, then the camera can capture the marker on the backrest, but the camera's view is limited and cannot accurately estimate the height of objects
Solution Approach 1:
The patent transitions from a one-dimensional vertical alignment (camera on the extension line of backrest movement) to a two-dimensional angular arrangement (camera at an angle to the backrest). This dimensional change allows the camera to simultaneously capture the marker position and calculate height through trigonometric relationships, resolving the contradiction between measurement precision and device complexity.
2Reliability
If the camera is positioned to capture the marker on the backrest, then height can be estimated, but the configuration becomes complex and the view is restricted
Solution Approach 1:
The camera is positioned to serve multiple functions simultaneously: capturing the marker for height estimation, monitoring the general surroundings of the mobile body, and providing reliable marker detection. This multi-functionality approach improves reliability while maintaining ease of operation by avoiding specialized positioning requirements.
3Device complexity
If the camera is placed on the mobile body to capture surrounding images, then the configuration is simplified, but the camera cannot accurately detect marker position for height estimation
Solution Approach 1:
The solution combines two functional aspects: the camera's general positioning on the mobile body (simplifying configuration) with a specific angular relationship to the backrest (improving measurement precision). This composite approach integrates both requirements by defining the camera's position in terms of both its mounting location and its orientation angle, achieving both simplicity and accuracy.
Data Source
AI summary
An information processing system includes a mobile body including a holding device that holds an object and allows the object to be moved up and down and a marker disposed on the holding device, at least one imaging device disposed at the mobile body at a position not on a same line with respect to a direction in which the object is moved up and down and captures an image of surroundings of the mobile body, and circuitry to detect a position of the marker based on an image of the marker captured by the at least one imaging device to estimate a height of the object.