Industrial Truck Optical Marker Positioning for Movable Loading Stations
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Solution Overview
Problem
Existing navigation systems for industrial trucks, such as GNSS, struggle to provide accurate positioning during loading and unloading operations, especially when the loading/unloading apparatus is movable or of varying configurations, leading to potential collisions and inefficiencies.
Innovation Solution
The integration of a camera system on the industrial truck to detect optical markers, such as QR codes or ArUco markers, on the loading/unloading apparatus, allowing the control unit to determine the truck's relative position and acquire information defining a target position for precise alignment and operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If known navigation systems (GNSS, LIDAR, IMU) are used for positioning, then the system can provide general navigation capability, but the positioning accuracy with respect to loading/unloading apparatus is insufficient
Solution Approach 1:
The patent introduces optical markers as intermediary objects attached to loading/unloading apparatus. These markers serve as mediators between the industrial truck's navigation system and the apparatus, enabling precise relative position determination through image capture and marker detection algorithms, thereby achieving high positioning accuracy adaptable to various apparatus configurations
Solution Approach 2:
The system creates a visual representation (image) of the loading/unloading apparatus and its markers, then processes this copied visual information to determine relative position. The camera captures images of markers on the apparatus, and image processing algorithms extract position information from these visual copies, enabling accurate navigation without direct physical measurement
2Adaptability or versatility
If the loading/unloading apparatus is movable or has varying configurations, then the system can handle diverse operational scenarios, but it becomes difficult to determine the correct target position
Solution Approach 1:
The system continuously captures images of the loading/unloading apparatus and its markers, processes these images to determine relative position, and uses this feedback information to dynamically adjust and determine the correct target position. This closed-loop feedback mechanism enables accurate target position determination even when the apparatus is movable or has varying configurations
Solution Approach 2:
The patent attaches optical markers to the loading/unloading apparatus in advance as preliminary preparation. These pre-placed markers enable the truck's camera system to quickly identify and track the apparatus position, facilitating rapid and accurate target position determination without requiring complex real-time analysis of the apparatus structure or configuration
3Extent of automation
If standard navigation systems are used, then the system can provide basic autonomous driving function, but the positioning accuracy during loading/unloading operations is insufficient
Solution Approach 1:
The patent segments the navigation system into two functional parts: general navigation (using GNSS, LIDAR, IMU) and precise positioning for loading/unloading (using optical markers). This segmentation allows the system to maintain autonomous driving capability while adding a specialized high-precision positioning subsystem that activates during loading/unloading operations to achieve the required positioning accuracy
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 solution enables the industrial truck to reliably and accurately reach the target position for loading/unloading operations, even in diverse environments and with different apparatus configurations, enhancing safety and operational efficiency by using encoded information and object recognition for precise navigation.
Implementation Method 1
at least a camera configured to capture images of an environment of the industrial truck, the at least one camera being connected to the control unit for providing the control unit with an image signal related to the captured images
Data Source
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AI summary
An industrial truck is configured to carry a load and having an autonomous/assisted driving function for approaching an apparatus configured to interact with the industrial truck for performing loading/unloading operations of the truck. The industrial truck comprises a control unit configured for controlling the autonomous/assisted driving function; at least a camera configured to capture images of an environment of the industrial truck, the at least one camera being connected to the control unit for providing the control unit with an image signal related to the captured images. The control unit is configured to detect, based on the image signal, an optical marker in the environment, wherein the control unit is configured to determine a relative position of the industrial truck with respect to the detected marker based on the image signal. The control unit is further configured to acquire information related to the optical marker, the information defining a target position to be reached by the industrial truck relative to the optical marker for performing the loading/unloading operations, wherein the control unit is further configured to control the autonomous/assisted driving function based on the determined relative position of the industrial truck with respect to the detected optical marker and on the information related to the optical marker, in order to reach the target position.