Method for determining an orientation of an industrial truck

{
  "publication_number": "US2022245854A1",
  "country": "US",
  "kind": "A1",
  "title": "Method for determining an orientation of an industrial truck",
  "abstract": "A method for determining an orientation of an industrial truck relative to a structure comprises recording an image of the structure using a camera mounted to the industrial truck, where the structure includes at least one horizontal element. At least two geometric quantities are determined from the recorded image that correspond to the at least one horizontal element. The at least two geometric quantities are then used to determine an angle of intersection between an image plane and a vertical plane through the at least one horizontal element.",
  "claims": [
    "1. A method for determining an orientation of an industrial truck relative to a structure including at least one horizontal element, wherein the industrial truck comprises a camera that is directed at the structure, the method comprising: recording an image of the structure with the camera, wherein the structure includes the at least one horizontal element; determining at least two geometric quantities in the recorded image that correspond to the at least one horizontal element; and using the at least two geometric quantities to determine an angle of intersection between an image plane and a vertical plane through the at least one horizontal element. 2. The method according to claim 1, further comprising identifying an edge in the recorded image. 3. The method according to claim 2, wherein the at least two geometric quantities comprise two image coordinates of a reference point in the recorded image and an angle of inclination of the edge. 4. The method according to claim 3, further comprising determining the angle of inclination as an angle of the edge in the recorded image. 5. The method according to claim 2, wherein the at least two geometric quantities comprise a distance and an offset angle. 6. The method according to claim 2, wherein at least two points (L, R) along the edge in the recorded image are identified as one of the at least two geometric quantities. 7. The method according to claim 6, further comprising: determining one ray ({right arrow over (l)}, {right arrow over (r)}) to each of the two points (L, R); and mapping respective points of each ray in a 3D coordinate system onto a respective point (L, R) in the recorded image. 8. The method according to claim 7, further comprising determining the angle of intersection in the 3D coordinate system from at least one pair of points with one point in each ray. 9. The method according to claim 1, wherein the camera is directed at a load rack that comprises horizontal load rack beams. 10. The method according to claim 1, wherein the camera is mounted on the industrial truck. 11. The method according to claim 1, wherein the image plane of the camera has a predefined orientation on the industrial truck. 12. The method of claim 11, wherein the predefined orientation is a vertical orientation. 13. The method according to claim 1, further comprising filtering out vertical edges in the recorded image. 14. The method according to claim 13, further comprising filtering out lines in a region of a center of the recorded image. 15. The method according to claim 1, further comprising; calibrating the camera; converting a point having image coordinates (u, v) into a direction vector (x′, y′, 1) for a ray; and mapping the point in a 3D coordinate system onto the respective point having the image coordinates. 16. The method according to claim 1, further comprising statistically evaluating a plurality of angles of intersection."
  ],
  "description_excerpt": "The present disclosure relates to a method for orienting an industrial truck.\n\nIndustrial trucks are frequently used in a warehouse environment in order to pick up and place down goods, loads, and other objects. The objects to be transported by the industrial truck are generally transported on load carriers and stored in racks and other storage spaces, for example. When picking up or placing down a load, it is important that the industrial truck is oriented correctly. The orientation with respect to the load or a structure in the warehouse region means, for example, an angle between the vehicle longitudinal direction and an edge or surface of the structure. Generally speaking, an industrial truck approaches a rack or load at a perpendicular angle thereto in order to pick up or place down the load.\n\nThe object of the invention is to provide a method for determining an orientation of the industrial vehicle relative to a structure that can reliably determine the orientation of the industrial truck using the simplest means possible. An embodiment of a method is provided and intended for determining an orientation of the industrial truck relative to a structure comprising horizontal elements. In the method, the industrial truck is equipped with a camera that is directed at the structure comprising the horizontal elements. An embodiment of the method according to the invention comprises a series of steps that are run through, wherein different sequential orders are possible for the steps, in particular for the image processing steps.",
  "cpc": [
    "G06T 7/73",
    "B65G 1/0485",
    "B65G 1/0492",
    "G01B 11/24",
    "G01B 11/26",
    "G01C 3/24",
    "G06T 2207/10004",
    "G06T 2207/20024",
    "G06T 2207/30252",
    "G06T 7/13",
    "G06T 7/60"
  ],
  "ipc": [
    "G01B 11/26",
    "G06T 7/13",
    "G06T 7/60",
    "G06T 7/73"
  ],
  "assignees": [
    "JUNGHEINRICH AG"
  ],
  "inventors": [
    "BISTRY HANNES",
    "BRUSS BENJAMIN"
  ],
  "filing_date": "2022-02-03",
  "publication_date": "2022-08-04",
  "priority_date": "2021-02-04",
  "application_number": "US-202217591662-A",
  "family_id": "80119389",
  "citations": [
    "US2020380294A1",
    "US2020380694A1",
    "US2021248759A1"
  ]
}