自动化叉车托盘

摘要：本文提出了两种基于激光扫描的方法
来定位和提取托盘的自动化叉车托盘。和基于摄 像系统相反，我们的方法在工业条件中是独立于 高亮度条件的。其中一个方法使用托盘与粘合剂 反射器可以很灵活的处理托盘，第二种方法基于 几何特征检测对环境无任何修改的托盘。实验结 果也同样报告出包括一个自治运行的叉车在物流 博览会CEMAT 展出在2005在汉诺威。
1. INTRODUCTION
Automatic guided vehicle systems (AGVS) to engage pallets typically require that the location of the pallets be known a priori and that the pallets are accurate positioned. To perform pallet handling also when the pallet position is not precisely known in advance, e.g. when the loads are handled and placed by a human driver, only a few solutions have been presented.
Variable Pallet Pick-Up for Automatic Guided Vehicles in Industrial Environments
Abstract - This paper presents two laser
scanner based approaches to locate and pick-up pallets with the aim of automating forklift trucks. In contrast to camera based systems our approaches are independent of luminance conditions which can be highly variable in industrial environments. Whereas one approach uses pallets modified with adhesive reflectors which enables very flexible handling of pallets, the second approach detects pallets based on geometric characteristics without any modifications to the environment. Experimental results are also reported including a run of an autonomous fork-lift truck presented at the logistics fair CeMAT 2005 in Hannover.
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疑难词汇
• Fork-lift • Luminance • Adhesive 叉式起重 n. [光][电子] 亮度；[光] 发光性 n. 粘合剂；胶黏剂 adj. 粘着的；带粘性的 • Modification n. 修改，修正；改变 • Logistics n. [军] 后勤；后勤学,物流 • Priori adj. 先验的；优先的（等于a priori） adv. 先验地（等于a priori） n. (Priori)人名；(意)普廖里 • Segmentation n. 分割；割断；细胞分裂 • Calibration n. 校准；刻度；标度 • Algorithm n. [计][数] 算法，运算法则 • Fiducials n. 基准点；时间标记
一、引言
自动导引车系统（AGVS）接合托盘通常需要 托盘的位置是事先检验已知的位置来准确定 位托盘。执行托盘搬运也当托盘位置是在事 先不知道的，例如，当载荷处理和安装由人 力驱动时，只有少数的解决方案被提出。这 些方法大多是基于视觉特征相机做图像数据 提取得出的。文献[ 1 ]一种基于颜色和托盘 的几何特性提出的图像分割方法。这种方法 的使用需要一个已标定算法的摄像机和一个 良好的照明系统。一个系统不需要保持严格 的摄像机标定在[ 2 ]中显示。因此使用的基 准是将人工视觉功能放在托盘上。
Most of these approaches are based on visual features extracted by image camera data. In reference [1] an image segmentation method based on color and the geometric characteristics of the pallet is proposed. For this approach a camera calibration algorithm and a good illumination systems required. A system which does not require to maintain a strict camera calibration is presented in [2]. Therefore fiducials are used, which are artificial visual features placed on the pallets.