1. Scope of Application

The company chose the Tuyang camera model FM830-RI, primarily utilized for detecting ground obstacles and identifying pallets. This article mainly details the camera's adaptation and related considerations.

Second, Installation and Wiring

Our company primarily utilizes the Tuyang camera for pallet identification. The camera boasts an effective measurement range of 0.5m-6m, with a horizontal field of view angle of 46° and a vertical field of view angle of 56°. Typically, the camera is installed on either a forklift or an ox truck. The standard installation process is depicted below:
For a forklift truck, the camera is usually installed in the position shown in the image above;

For an ox truck, the camera is installed in the position shown in the image above.
It is imperative to install the camera support on the middle line of the gear shaper, and install it horizontally in the center with the camera face up (you can determine the correct orientation based on the letters on the back of the camera). The camera will be mounted with a housing bracket, which not only ensures that the bracket is mounted horizontally, but also guarantees that the camera surface is parallel to the fork lifting mechanism.

III. Camera Model Configuration

Usage chart FM830. When using the camera, connect it to the USB port of the main control port and power it on. Roboshop requires the following configuration:

The PercipioID is the unique identifier of the camera, located on the white label behind the camera body. If you install more than two 8300s, you must fill in the correct camera to distinguish it. If you install only one 8300, you can leave it blank, and the program will connect to the current camera by default.

Check the onlyForPalletDetection option if the camera is used to identify pallets for cargo forklifts.

1. Precautions for Pallet Identification Function

By default, only left and right-sided pallets can be detected, meaning the middle hole size is uniform. Prior to utilizing the pallet identification function, pallet parameters must be set in the pallet identification options. These parameters include:

Pallet Width: The width of the pallet.

Pallet Height: Indicates the height of the pallet.

pocket_width: specifies the width of the central opening

Pocket height: indicates the height of the central space.

pocket_spacing: specifies the width of the central section

The height of the pallet refers to the height of the support columns of the pallet, excluding the height of any objects connected between the support columns. The thickness of the pallet (the height of the pallet minus the height of the middle hole) must be greater than or equal to 3cm. If it is less than 3cm, it may not be recognized.

As illustrated in the image below:

When placing the pallet, the deviation angle of the coordinate system between the pallet and the robot is typically less than 20 degrees. The vertical distance between the center of the pallet and the center of the forklift truck in the direction of the robot is less than the width of the pallet. If it exceeds this, it cannot be identified. The distance between the pallet and the camera is generally greater than 1m and less than 3m.

2. Pallet identification forklift motion parameters

Configuration of Parameters:

RecQRCode_AheadDist (unit: m): identifies the planned lead distance.

RecQRCode_BackLength, measured in meters, identifies the intended rear distance. This distance is approximately the distance between the mileage center of the forklift truck and the DI position on the fork. If the value is too large, the DI of the goods will trigger an error prematurely. If the value is too small, the DI will not be triggered when the cattle reaches the point.

RecQRCode_PathSpeed (unit: m/s): identifies the speed at which the path is traveled

RecOnePathRatio: Indicates the tangent threshold of a single path, measured in radians.

Illustration:

VI. Testing

Vii. Frequently Asked Questions