Planar Sensors for Pallet Detection in Mobile Robots
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing methods for accurately locating and orienting pallets in warehouse environments, especially in dynamic and unstructured settings, are inefficient due to the logistical challenges of maintaining a highly structured environment and the high cost of implementing three-dimensional sensors.
Innovation Solution
A mobile robotic device equipped with planar distance sensors that scan a horizontal coverage plane to detect pallets by comparing sensor data to pallet identification signatures, allowing for precise determination of pallet location and orientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional sensors are used for pallet detection, then measurement precision is improved, but device cost increases
Solution Approach 1:
The patent divides the detection task into two parts: using inexpensive 2D planar sensors to detect pallet presence and basic position, then using computer vision algorithms to infer three-dimensional location and orientation from the two-dimensional data. This segmentation allows avoiding costly 3D sensors while achieving the required measurement precision.
Solution Approach 2:
The patent creates a two-dimensional representation (copy) of the three-dimensional pallet structure by detecting pallet signatures in the 2D sensor data. This 2D copy contains sufficient information to determine pallet location and orientation without requiring direct 3D measurement, thus reducing device cost while maintaining detection accuracy.
2Reliability
If highly structured environment is maintained for pallet detection, then detection reliability is improved, but operational flexibility deteriorates
Solution Approach 1:
The system performs self-identification of pallets by detecting characteristic pallet signatures directly in unstructured environments. The computer vision algorithm automatically identifies pallet features and determines their three-dimensional properties without requiring pre-established environmental structures or manual labeling, enabling reliable detection across diverse warehouse conditions.
Solution Approach 2:
The patent transforms the detection approach by changing from structure-dependent detection to feature-based detection. By identifying pallet-specific geometric parameters and signatures in 2D sensor data, the system achieves reliable detection that is independent of environmental structure, thereby improving adaptability to various warehouse layouts and conditions.
Data Source
AI summary
Example implementations may relate to a mobile robotic device that is operable to detect pallets using a distance sensor. According to these implementations, the robotic device causes the distance sensor to scan a horizontal coverage plane in an environment of the robotic device. Then, the robotic device receives from the distance sensor, sensor data indicative of the horizontal coverage plane. The robotic device compares the sensor data to a pallet identification signature. Based on the comparison, the robotic device detects a pallet located in the environment. Further, based on the sensor data, the robotic device determines a location and an orientation of the detected pallet.