Pallet Positioning via Perspective Adjustment and Feature Markers
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Solution Overview
Problem
The logistics industry faces challenges in achieving precise and cost-effective pallet positioning, particularly in environments with limited features and high costs associated with advanced technologies like binocular vision, RGB-D cameras, and high-precision lasers.
Innovation Solution
A pallet positioning method and system that utilizes a photographing module to capture on-site images, defines a projection datum, calculates projection plane coordinates, and transforms images to adjust for inclined angles, allowing for automatic pallet positioning without the need for expensive sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If binocular vision is used for pallet positioning, then positioning precision is improved, but the system becomes sensitive to light conditions and fails in fields without clear features
Solution Approach 1:
The patent replaces expensive and environmentally sensitive binocular vision systems with a simpler camera-based positioning system that uses disposable or replaceable feature markers (patterns) placed on the ground. These markers provide reliable positioning information without requiring complex optical systems, making the solution both cost-effective and adaptable to various lighting conditions.
Solution Approach 2:
The patent introduces feature markers (patterns) as intermediaries between the camera and the pallet positioning system. These markers serve as mediators that provide clear, detectable features for positioning without requiring the environment to have natural features. The markers act as a bridge that enables accurate positioning in environments where direct visual features are absent or unreliable.
2Measurement precision
If RGB-D camera or high precision laser is used for pallet positioning, then positioning precision is improved, but the cost increases significantly
Solution Approach 1:
The patent replaces expensive RGB-D cameras and high-precision lasers with a simple camera combined with inexpensive feature markers. The markers are low-cost patterns that can be printed and placed on the ground, eliminating the need for costly sensing equipment while maintaining positioning accuracy through image processing algorithms.
Solution Approach 2:
The patent uses 2D images captured by a standard camera to create a representation of the 3D positioning information. By capturing images from multiple angles and using coordinate transformation algorithms, the system reconstructs positioning data without requiring direct 3D sensing equipment, effectively copying spatial information from 2D projections.
3Extent of automation
If traditional pallet positioning methods are used, then automation is improved, but the equipment complexity and cost increase
Solution Approach 1:
The patent extracts only the essential function of positioning from complex automated systems. By removing unnecessary sensors and processing equipment, the system achieves automation through a minimal setup: a camera, feature markers, and coordinate transformation algorithms. This extraction of core functionality reduces complexity while maintaining automated operation.
Solution Approach 2:
The system uses the camera to capture images that automatically contain the necessary positioning information through the feature markers. The markers themselves provide the reference framework, eliminating the need for external calibration equipment or complex setup procedures. The system serves itself by using the captured images directly for positioning calculations.
Data Source
AI summary
A pallet positioning method includes: defining a size parameter of a pallet; defining a pallet feature of the pallet according to the size parameter; obtaining an on-site image; defining a projection datum; calculating a projection plane coordinate based on the projection datum; transforming the on-site image to a perspective adjusted image according to the projection plane coordinate; obtaining a first pallet image in the perspective adjusted image according to the pallet feature; calculating an inclined angle of the first pallet image; rotating the first pallet image according to the inclined angle; obtaining a second pallet image; obtaining a position information of the pallet based on the second pallet image; and obtaining a three dimensional information of the pallet according to the inclined angle and the position information. A pallet positioning system is also disclosed.