A pallet detection device comprises: a point cloud acquisition unit configured to acquire point cloud data indicating a point cloud measured by a two-dimensional distance measurement device on a depth map; a straight line detection unit configured to detect 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; a line segment detection unit configured to detect a line segment indicating the front surface of the pallet based on the straight line; and a position/orientation acquisition unit configured to acquire position and orientation of the pallet based on the line segment. The straight line detection unit acquires one or more straight line candidates as candidates for the straight line, assigns, for each of the one or more straight line candidates, a score to the point cloud so that points in front of the straight line candidate at a specified distance or more are assigned with a score with a constant whose priority in selection is lower than the rest of points, 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.
PALLET DETECTION DEVICE, FORKLIFT, PALLET DETECTION METHOD, AND PROGRAM
2022-03-03
Patent
Electronic Resource
English
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 |
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