Vision based forklift control system for autonomous pallet loading

摘要

A vision based forklift control system for autonomous pallet loading, comprising a telecamera rigidly connected to the pair of fork prongs located on the forklift, an image acquisition and processing apparatus, a computer and means for controlling and moving said pair of fork prongs on the basis of signals originating from said computer, wherein starting with the framing of a pallet by the telecamera, acquired by said image processing apparatus as a digital image, the computer estimates the position and orientation of the framed pallet relative to the telecamera.