Industrial Truck Marker Navigation for Precise Dock Alignment
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Solution Overview
Problem
Existing navigation systems for industrial trucks fail to provide precise positioning with respect to loading/unloading apparatuses, especially when they are mobile, making it difficult to perform loading/unloading operations accurately.
Innovation Solution
The industrial truck is equipped with a control unit that uses video cameras to detect multiple optical markers in the environment, determining its relative position and acquiring information to control autonomous/assisted driving functions, ensuring precise alignment with the loading/unloading apparatus by detecting at least two markers, even if one is not visible, using visual odometry and IMU for robust estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If normal navigation systems based on GNSS are used for positioning, then the system is simple and provides general navigation capability, but the positioning precision with respect to loading/unloading apparatus is insufficient
Solution Approach 1:
The navigation system is segmented into two functional layers: a global navigation layer using GNSS for general positioning, and a local precision layer using visual markers for accurate positioning relative to loading/unloading apparatus. This segmentation allows the system to achieve high precision (28) without requiring complete redesign of the entire navigation system, thus limiting the increase in complexity (36).
Solution Approach 2:
Visual markers are introduced as intermediary objects between the truck's navigation system and the loading/unloading apparatus. These markers serve as reference points that bridge the gap between coarse GNSS positioning and fine-positioning requirements, enabling precise alignment without direct complex sensing of the apparatus itself.
2Reliability
If a single optical marker is used for positioning, then the system is simple to implement, but the positioning reliability is reduced when the marker is not visible
Solution Approach 1:
Different markers are placed at different locations (on the loading/unloading apparatus and in the environment) with specific visual characteristics. The system selectively uses markers based on their visibility and positional relevance, giving different 'quality' or weight to different markers depending on the situation, thereby maintaining reliability without requiring an overly complex single-marker solution.
Solution Approach 2:
Multiple optical markers are pre-deployed in the environment and on the apparatus as redundant reference points. This creates a cushion against failure - if one marker becomes invisible or unavailable, other markers are already in place to provide alternative positioning references, maintaining system reliability without adding complex active redundancy mechanisms.
3Adaptability or versatility
If the loading/unloading apparatus is mobile, then the system has high adaptability to different operational configurations, but the difficulty of determining the correct target position increases
Solution Approach 1:
The system continuously detects the positions of multiple optical markers and uses this feedback to dynamically calculate the truck's relative position and orientation. The control unit processes real-time visual information from multiple markers to determine the correct target position, adapting to the mobile apparatus's changing location without requiring pre-programmed fixed positions.
Solution Approach 2:
The system transitions from two-dimensional marker detection to three-dimensional spatial reasoning by using multiple markers at different positions and elevations. This dimensional approach allows the system to calculate not only horizontal positioning but also vertical alignment and rotational orientation, enabling accurate target position determination even when the apparatus moves or changes configuration.
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 approach allows the truck to reliably and precisely reach the target position for loading/unloading operations, enhancing the robustness and reliability of autonomous/assisted driving by utilizing multiple markers and redundant positioning methods.
Implementation Method 1
at least one video camera configured to capture images of an environment of the industrial truck... the control unit is configured to detect, based on the image signal, at least two optical markers in the environment
Data Source
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AI summary
An industrial truck is configured to carry a load and has an autonomous/assisted driving function for approaching an apparatus configured to interact with the industrial truck to perform operations of loading/unloading the truck. The industrial truck comprises a control unit for controlling the autonomous/assisted driving function; at least one video camera configured to capture images of an environment of the industrial truck, the at least one video camera being connected to the control unit to provide 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 relating to the optical marker, the information defining a target position, with respect to the optical markers, that the industrial truck must reach to perform 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 relating to the optical marker, in order to reach the target position.