Jungheinrich Aktiengesellschaft

Eckhard Schulz

Jan Kopelke

Martin Von Werder

A method for determining the position of a plurality of storage bins in a warehouse, comprises the steps of: (i) obtaining image data from at least one lateral 3D camera coupled to an industrial truck having a location system and a direction of travel, the at least one lateral 3D camera oriented transversely to the direction of travel of the industrial truck; (ii) obtaining location information concerning the industrial truck by a location system; (iii) determining position data associated with the plurality of storage bins in a warehouse defining a fixed coordinate system, the position data being determined based on the image data acquired by the at least one lateral 3D camera and the location information of the industrial truck; and (iv) storing the position data of the plurality of storage bins in a database of a computer processing unit.

Method and industrial truck for ascertaining and representing the position of storage bins in a warehouse

A method for recognizing a viewed object in a warehouse comprises detecting image data comprising a plurality of pixels with a 3D camera attached to an industrial truck, wherein information regarding a distance from the viewed object to the 3D camera is assigned to each pixel. Creating a two-dimensional data set by projecting the plurality of pixels on a projection plane and comparing the two-dimensional data set with a predefined pattern representing a reference object. Determining a provisional recognition of a viewed object at a position in the projection plane based on a correspondence found in the comparison. Creating a second data set that comprises a depth profile along a line at the position of the projection plane and comparing the second data set with a predefined depth profile pattern assigned to the reference object. The final recognition of the viewed object occurring when a correspondence is found in the comparison of the second data set with a predefined depth profile pattern assigned to the reference object.

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Henstedt-Ulzburg, Germany

Eckhard Schulz