用广角相机自动测量托盘倾斜角，实现叉车精准插叉。
Image Measurement Method for Automatic Insertion of Forks into Inclined Pallet
- 通过广角摄像头捕捉图像，计算托盘俯仰倾角。
- 实测误差在安全插叉允许范围内，最高误差可控。
- 适合自动化叉车系统集成，提升物流搬运精度。
为使位于托盘前方的叉车将货叉插入托盘孔洞，需精确控制货叉的垂直位置、伸缩位置及倾斜角度以匹配孔洞的位置与朝向。为实现自主导引叉车（AGF）自动完成该操作，本文提出一种基于广角相机图像的测量方法，用于获取托盘在相机坐标系中的俯仰倾角。此外，还提出一种简便方法，用于获取相机坐标系与货叉坐标系之间的标定信息，从而将相机测量结果应用于货叉控制。实验中，将广角相机固定于前移式叉车的背架上，对前方放置的托盘拍摄图像并处理。通过对比图像测量值与人工测量值，在改变托盘俯仰角、托盘与货叉相对高度以及托盘是否载物等条件下进行评估，确认测量误差在安全插叉允许范围内。
原文摘要 · Abstract (English)
In order to insert a fork into a hole of a pallet by a forklift located in front of a pallet, it is necessary to control the height position, reach position, and tilt angle of the fork to match the position and orientation of the hole of the pallet. In order to make AGF (Autonomous Guided Forklift) do this automatically, we propose an image measurement method to measure the pitch inclination of the pallet in the camera coordinate system from an image obtained by using a wide-angle camera. In addition, we propose an image measurement method to easily acquire the calibration information between the camera coordinate system and the fork coordinate system necessary to apply the measurements in the camera coordinate system to the fork control. In the experiment space, a wide-angle camera was fixed at the backrest of a reach type forklift. The wide-angle images taken by placing a pallet in front of the camera were processed. As a result of evaluating the error by comparing the image measurement value with the hand measurement value when changing the pitch inclination angle of the pallet, the relative height of the pallet and the fork, and whether the pallet is loaded or not, it was confirmed that the error was within the allowable range for safely inserting the fork.
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