In order to insert a fork into a hole of a pallet by a forklift located in front of a pallet, it is necessary to control the height position, reach position, and tilt angle of the fork to match the position and orientation of the hole of the pallet. In order to make AGF (Autonomous Guided Forklift) do this automatically, we propose an image measurement method to measure the pitch inclination of the pallet in the camera coordinate system from an image obtained by using a wide-angle camera. In addition, we propose an image measurement method to easily acquire the calibration information between the camera coordinate system and the fork coordinate system necessary to apply the measurements in the camera coordinate system to the fork control. In the experiment space, a wide-angle camera was fixed at the backrest of a reach type forklift. The wide-angle images taken by placing a pallet in front of the camera were processed. As a result of evaluating the error by comparing the image measurement value with the hand measurement value when changing the pitch inclination angle of the pallet, the relative height of the pallet and the fork, and whether the pallet is loaded or not, it was confirmed that the error was within the allowable range for safely inserting the fork.

翻译：为使叉车能够将叉齿插入位于其前方的托盘孔洞中，必须控制叉齿的高度位置、伸缩位置及倾斜角度，以匹配托盘孔洞的位置与姿态。为实现自动导引叉车（AGF）的自主完成此操作，本文提出一种图像测量方法，通过广角相机获取的图像，在相机坐标系中测量托盘的俯仰倾斜角度。此外，本文还提出一种图像测量方法，用于便捷地获取相机坐标系与叉齿坐标系之间的标定信息，这是将相机坐标系中的测量结果应用于叉齿控制所必需的。在实验环境中，将广角相机固定于前移式叉车的靠背上。通过处理在相机前方放置托盘时拍摄的广角图像，并在改变托盘俯仰倾斜角度、托盘与叉齿的相对高度以及托盘是否载货的条件下，将图像测量值与人工测量值进行对比以评估误差。结果表明，误差均在安全插入叉齿的允许范围内。