A method for recognizing a viewed object in a warehouse comprises detecting image data comprising a plurality of pixels with a 3D camera attached to an industrial truck, wherein information regarding a distance from the viewed object to the 3D camera is assigned to each pixel. Creating a two-dimensional data set by projecting the plurality of pixels on a projection plane and comparing the two-dimensional data set with a predefined pattern representing a reference object. Determining a provisional recognition of a viewed object at a position in the projection plane based on a correspondence found in the comparison. Creating a second data set that comprises a depth profile along a line at the position of the projection plane and comparing the second data set with a predefined depth profile pattern assigned to the reference object. The final recognition of the viewed object occurring when a correspondence is found in the comparison of the second data set with a predefined depth profile pattern assigned to the reference object.
Method for recognizing objects in a warehouse, and industrial truck with an apparatus for recognizing objects in a warehouse
2019-10-01
Patent
Elektronische Ressource
Englisch
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / B25J Manipulatoren , MANIPULATORS / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |