US 12,091,301 B2
Method for calibrating coordinate systems in industrial trucks
Felix Weichselgartner, Tiefenbach (DE); Hannes Moritz, Landshut (DE); and Martin Schwaiger, Farchant (DE)
Assigned to Jungheinrich Aktiengesellschaft, Hamburg (DE)
Filed by Jungheinrich Aktiengesellschaft, Hamburg (DE)
Filed on Mar. 2, 2022, as Appl. No. 17/685,204.
Claims priority of application No. 10 2021 104 920.2 (DE), filed on Mar. 2, 2021.
Prior Publication US 2022/0281726 A1, Sep. 8, 2022
Int. Cl. B66F 9/075 (2006.01); B66F 9/06 (2006.01); G05D 1/00 (2024.01)
CPC B66F 9/0755 (2013.01) [B66F 9/063 (2013.01); G05D 1/0246 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for calibrating a coordinate system of an industrial truck, comprising:
providing an uncalibrated coordinate system for the industrial truck;
either (i) providing the industrial truck with a visual marker at a predetermined position and positioning an optical camera at a predetermined camera position outside the industrial truck, or (ii) attaching the visual marker to a predetermined fixed spatial position outside the industrial truck and positioning the optical camera at a predetermined camera position on the industrial truck;
wherein the industrial truck performs a predetermined sequence of movements in order to arrive at a desired spatial target state via a desired trajectory based on the uncalibrated coordinate system;
recording the visual marker on the industrial truck by means of the optical camera which is remote from the industrial truck or recording the visual marker arranged outside the industrial truck by means of the optical camera which is arranged on the industrial truck, in order to determine an actual trajectory and/or an actual spatial state of the industrial truck;
comparing the determined actual spatial state of the industrial truck with the desired spatial target state and/or the determined actual trajectory with the desired trajectory; and
calibrating the coordinate system of the industrial truck based on a result of the comparison.