研究者総覧
論文
- タイトル
- タイトル（英）
- Robotic Forklift for Stacking Multiple Pallets with RGB-D Cameras
- 参照URL
- https://researchmap.jp/7000020455/published_papers/40343617
- 著者
- 著者（英）
- Ryosuke Iinuma,Yusuke Hori,Hiroyuki Onoyama,Yukihiro Kubo,Takanori Fukao
- 担当区分
- 概要
- 概要（英）
- We propose a robotic forklift system for stacking multiple mesh pallets. The stacking of mesh pallets is an essential task for the shipping and storage of loads. However, stacking, the placement of pallet feet on pallet edges, is a complex problem owing to the small sizes of the feet and edges, leading to a complexity in the detection and the need for high accuracy in adjusting the pallets. To detect the pallets accurately, we utilize multiple RGB-D (RGB Depth) cameras that produce dense depth data under the limitations of the sensor position. However, the depth data contain noise. Hence, we implement a region growing-based algorithm to extract the pallet feet and edges without removing them. In addition, we design the control law based on path following control for the forklift to adjust the position and orientation of two pallets. To evaluate the performance of the proposed system, we conducted an experiment assuming a real task. The experimental results demonstrated that the proposed system can achieve a stacking operation with a real forklift and mesh pallets.
- 出版者・発行元
- 出版者・発行元（英）
- FUJI TECHNOLOGY PRESS LTD
- 誌名
- 誌名（英）
- JOURNAL OF ROBOTICS AND MECHATRONICS
- 巻
- 33
- 号
- 6
- 開始ページ
- 1265
- 終了ページ
- 1273
- 出版年月
- 2021年12月
- 査読の有無
- 査読有り
- 招待の有無
- 掲載種別
- 研究論文（学術雑誌）
- ISSN
- 0915-3942
- DOI URL
- https://doi.org/10.20965/jrm.2021.p1265
- 共同研究・競争的資金等の研究課題
研究者
小野山 博之
(オノヤマ ヒロユキ)