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JRM Vol.33 No.6 pp. 1265-1273
doi: 10.20965/jrm.2021.p1265
(2021)

Paper:

Robotic Forklift for Stacking Multiple Pallets with RGB-D Cameras

Ryosuke Iinuma*, Yusuke Hori*, Hiroyuki Onoyama*, Yukihiro Kubo*, and Takanori Fukao*,**

*Ritsumeikan University
1-1-1 Nojihigashi, Kusatsu-shi, Shiga 525-8577, Japan

**University of Tokyo
7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:
May 19, 2021
Accepted:
October 13, 2021
Published:
December 20, 2021
Keywords:
autonomous forklift, pallet stacking, RGB-D camera
Abstract
Robotic Forklift for Stacking Multiple Pallets with RGB-D Cameras

Mesh pallet stacking

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.

Cite this article as:
R. Iinuma, Y. Hori, H. Onoyama, Y. Kubo, and T. Fukao, “Robotic Forklift for Stacking Multiple Pallets with RGB-D Cameras,” J. Robot. Mechatron., Vol.33, No.6, pp. 1265-1273, 2021.
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Last updated on Sep. 27, 2022