The present invention relates to a pallet hole detection device which converts distance data of each pixel obtained by a three-dimensional (3D) camera into a two-dimensional (2D) image with brightness adjusted according to the distance, and then detects a pallet hole in the converted 2D image. When a pallet hole is not detected because a pallet is wrapped together with the loaded cargo, a pallet hole can be detected by estimating the pallet hole by detecting the pallet edge and center.
본 발명의 파렛트 홀 검출 장치는 3D 카메라로 획득한 각 픽셀의 거리 데이터에 기초하여 거리에 따른 밝기를 조절한 2D 영상으로 변환한 후 변환된 2D 영상에서 파렛트 홀을 검출한다. 파렛트가 적재된 화물과 함께 랩핑되어 파렛트 홀 검출이 되지 않는 경우, 파렛트 엣지와 중심을 검출하여 파렛트 홀을 추정하는 방법으로 파렛트 홀을 검출할 수 있다.
Pallet hole detection device and detection method
파렛트 홀 검출 장치 및 검출 방법
2022-04-26
Patent
Electronic Resource
Korean
IPC: | 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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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