Vision-Based Handling Tasks for an Autonomous Outdoor Forklift
نویسنده
چکیده
In the aluminium industry, Hot Metal Carriers (HMCs) perform the task of transporting molten aluminium from the smelter (where the aluminium is made) to the casting shed where it is turned into block products. The vehicles weigh approximately 20 tonnes unloaded and resemble forklifts except they have a dedicated hook for manipulating the load, called the crucible. In the perspective of a full automation of this kind of vehicle, this paper main contribution is the implementation of robust outdoor crucible handling capacities, relying on the autonomous tracking of especially designed fiducials attached to the crucible handle.
منابع مشابه
A Situationally Aware Voice-commandable Robotic Forklift Working Alongside People in Unstructured Outdoor Environments
One long-standing challenge in robotics is the realization of mobile autonomous robots able to operate safely in human workplaces, and be accepted by the human occupants. We describe the development of a multiton robotic forklift intended to operate alongside people and vehicles, handling palletized materials within existing, active outdoor storage facilities. The system has four novel characte...
متن کاملVision-based Navigation System for Autonomous Urban Transport Vehicles in Outdoor Environments
This paper describes o vision-based system for autonomous urban transport missions in outdoor environments. Vision-based speciolised tasks ore implemented for particular functionalities such as lane tracking, and navigation along intersections. High level knowledge about goals and intentions is extractedfrom an apriori map so as to schedule the global mission and to direct the behaviours of the...
متن کاملVision Based Autonomous Road Following for a Wheeled Outdoor Robot Following unmarked roads using Gaussian color models
This thesis describes a system for vision based autonomous road following for unmarked roads. It has been carried out in the context of a project where a wheeled outdoor platform for scouting missions in an urban setting is being developed. In some situations it is desirable to manually control the vehicle remotely using a wireless connection and video feedback. However, following a narrow road...
متن کاملVision-based operations of a large industrial vehicle: Autonomous hot metal carrier
Hot Metal Carriers (HMCs) are large forklift-type vehicles used to move molten metal in aluminium smelters. This paper reports on field experiments that demonstrate that HMCs can operate autonomously and in particular can use vision as a primary sensor to locate the load of aluminium. We present our complete system but focus on the vision system elements and also detail experiments demonstratin...
متن کاملEffective Mechatronic Models and Methods for Implementation an Autonomous Soccer Robot
Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...
متن کامل