Pallet detection device that acquires point cloud data indicating a point cloud measured by a two-dimensional distance measurement device on a depth map; detects a straight line corresponding to a front surface of a pallet based on the point cloud in a region presumed to include the front surface of the pallet in the point cloud data; detects a line segment indicating the front surface of the pallet based on the straight line; acquires position and orientation of the pallet based on the line segment. Acquires one or more straight line candidates and assigns for each of the one or more straight line candidates a score to the point cloud and selects the straight line from the one or more straight line candidates based on a score accumulated value obtained by accumulating the score for the point cloud in the region presumed to include the front surface of the pallet.


    Access

    Download


    Export, share and cite



    Title :

    Pallet detection device, forklift, pallet detection method, and program


    Contributors:

    Publication date :

    2024-08-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



    PALLET DETECTION DEVICE, FORKLIFT, PALLET DETECTION METHOD, AND PROGRAM

    TAKAO KENJI / FUJITA TAKUMI / KITAJIMA KATSUMASA et al. | European Patent Office | 2022

    Free access

    PALLET DETECTION DEVICE, FORKLIFT, PALLET DETECTION METHOD, AND PROGRAM

    TAKAO KENJI / FUJITA TAKUMI / KITAJIMA KATSUMASA et al. | European Patent Office | 2022

    Free access

    PALLET DETECTION DEVICE, FORKLIFT, PALLET DETECTION METHOD, AND PROGRAM

    KENJI TAKAO / TAKUM FUJITA / KATSUMASA KITAJIMA et al. | European Patent Office | 2025

    Free access

    Double-pallet forklift

    ZHANG XIAODONG / JIANG YUEJUN | European Patent Office | 2015

    Free access

    FORKLIFT AND PALLET

    OSUGI MASAYA / TSUJIMURA SHOGO | European Patent Office | 2018

    Free access