Pallet Posture Estimation Using Laser Plane Equations
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Solution Overview
Problem
Existing position and posture estimation systems for pallets with respect to fork lifts lack high accuracy in estimating the posture of pallets, despite being able to estimate their position.
Innovation Solution
A position and posture estimation system that includes a distance detection unit, a plane equation calculation unit, and an estimation computation unit, which calculates the yaw, pitch, and roll angles of the pallet's posture using laser measurement data and image processing to accurately determine the pallet's position and posture relative to a fork lift.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position and posture estimation is performed using only distance measurement sensors and fork pocket rules, then the position can be estimated, but the posture estimation accuracy is insufficient
Solution Approach 1:
The patent combines distance measurement sensor data with image processing data to estimate pallet posture. The distance measurement sensor provides depth information while the image processing unit provides visual information about the pallet front surface, and their integration enables accurate posture estimation including yaw, pitch, and roll angles without requiring complex additional sensors or markers on the pallet.
2Measurement precision
If markers are added to the pallet for posture estimation, then posture can be detected, but the cargo handling process becomes more complex and time-consuming
Solution Approach 1:
The system uses the pallet's own front surface features (edges, corners, or surface patterns) as natural reference points for posture estimation. The image processing unit extracts geometric features directly from the pallet's visual appearance without requiring any external markers, allowing the pallet to serve itself as the reference object for accurate posture detection while maintaining handling efficiency.
3Adaptability or versatility
If estimation is performed at larger distances, then the fork lift has more operational flexibility, but the estimation accuracy decreases
Solution Approach 1:
The patent transitions from two-dimensional image processing alone to three-dimensional posture estimation by integrating distance measurement data with image data. The distance measurement sensor provides depth information that enables accurate estimation of pallet posture even at larger distances, as the three-dimensional data compensates for the reduced angular resolution that occurs with increased distance.
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
Enables high-accuracy estimation of both the position and posture of pallets, including yaw, pitch, and roll angles, even at larger distances without requiring markers on the pallet, thereby improving cargo handling precision.
Implementation Method 1
a distance measurement sensor that measures a distance from an object
Data Source
AI summary
Provided is a position and posture estimation system including: a laser sensor that detects a distance to a pallet; a plane equation calculation unit that calculates a plane equation of a front surface of the pallet on the basis of detection data of the laser sensor; and an estimation computation unit that estimates the position and the posture of the pallet by using the plane equation of the front surface of the pallet which is calculated by the plane equation calculation unit. The estimation computation unit calculates a yaw angle, a pitch angle, and a roll angle of the pallet as the posture of the pallet.