• Title/Summary/Keyword: Pallet Measurement

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A Vision Based Pallet Measurement Method by Estimating 3D Direction of A Line Parallel to The Ground (지면 평행 직선의 3차원 방향 추정에 의한 비전 기반 파렛트 측정 방법)

  • Kim, Minhwan;Byun, Sungmin
    • Journal of Korea Multimedia Society
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    • v.23 no.10
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    • pp.1229-1235
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    • 2020
  • A line parallel to the ground is frequently shown in our daily life, which enables us to guess its direction. Especially, such a guess tends to become clear when a vanishing line of the ground is shown together. In this paper, a vision based pallet measurement method is suggested, which uses a technique for estimating three-dimensional direction of a line parallel to the ground. The technique computes actually a vector heading to intersection of a given imaged line parallel to the ground and the ground vanishing line determined previously on calibrating a measurement camera. Through an experiment of measuring a real commercial pallet with various orientation and distance, we found that the technique could measure the orientation of the pallet correctly and accurately. The technique worked well even though an edge line available on the front plane of a pallet was almost parallel to the ground vanishing line.

A Monocular Vision Based Technique for Estimating Direction of 3D Parallel Lines and Its Application to Measurement of Pallets (모노 비전 기반 3차원 평행직선의 방향 추정 기법 및 파렛트 측정 응용)

  • Kim, Minhwan;Byun, Sungmin;Kim, Jin
    • Journal of Korea Multimedia Society
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    • v.21 no.11
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    • pp.1254-1262
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    • 2018
  • Many parallel lines may be shown in our real life and they are useful for analyzing structure of objects or buildings. In this paper, a vision based technique for estimating three-dimensional direction of parallel lines is suggested, which uses a calibrated camera and is applicable to an image being captured from the camera. Correctness of the technique is theoretically described and discussed in this paper. The technique is well applicable to measurement of orientation of a pallet in a warehouse, because a pair of parallel lines is well detected in the front plane of the pallet. Thereby the technique enables a forklift with a well-calibrated camera to engage the pallet automatically. Such a forklift in a warehouse can engage a pallet on a storing rack as well as one on the ground. Usefulness of the suggested technique for other applications is also discussed. We conducted an experiment of measuring a real commercial pallet with various orientation and distance and found for the technique to work correctly and accurately.

Pallet Measurement Method for Automatic Pallet Engaging in Real-Time (자동 화물처리를 위한 실시간 팔레트 측정 방법)

  • Byun, Sung-Min;Kim, Min-Hwan
    • Journal of Korea Multimedia Society
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    • v.14 no.2
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    • pp.171-181
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    • 2011
  • A vision-based method for positioning and orienting of pallets is presented in this paper, which guides autonomous forklifts to engage pallets automatically. The method uses a single camera mounted on the fork carriage instead of two cameras for stereo vision that is conventionally used for positioning objects in 3D space. An image back-projection technique for determining the orient of a pallet without any fiducial marks is suggested in tins paper, which projects two feature lines on the front plane of the pallet backward onto a virtual plane that can be rotated around a given axis in 3D space. We show the fact that the rotation angle of the virtual plane on which the back-projected feature lines are parallel can be used to describe the orient of the pallet front plane. The position of the pallet is determined by using ratio of the distance between the back-projected feature lines and their real distance on the pallet front plane. Through a test on real pallet images, we found that the proposed method was applicable to real environment practically in real-time.

The Error Source Analysis of Measuring Data of OMM System (OMM 시스템의 측정오차 원인분석 및 대책)

  • 이상준;김선호;김옥현
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1997.04a
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    • pp.73-77
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    • 1997
  • This paper describes the analysis of measuring error of on the machine measuring(OMM) system which can directly measure the three dimensional machined free surface dimension using scanning probe on milling machine. 21 inch TV shadow mask mould was measured using PTP(point to point)measurement algorithm at pallet clamped and unclamped state on OMM system, and using coordinate measuring machine(CMM) one after another. The OMM system was evaluated probe error, stylus contact error, center shift error, repeatability and so on. Consequencely, the conclusion derived that elastic displacement of pallet had effect on measuring error mainly, and pallet design and setup method would be important.

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The Analysis of Measuring Error in OMM System (OMM 시스템에서의 측정오차 해석)

  • 이상준;김선호;김옥현
    • Journal of the Korean Society for Precision Engineering
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    • v.15 no.5
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    • pp.34-42
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    • 1998
  • This paper describes an analysis of measuring error of on the machine measuring(OMM) system which directly measures machined surface dimensions using scanning probe on a CNC milling machine. 21 inch TV shadow mask mould clamped to a pallet was measured using PTP(point to point) measuring algorithm in OMM system and the results were compared with those using coordinate measuring machine(CMM). The OMM error was evaluated by probe error, stylus contact error, center shift error, repeatability, work-piece clamping error and etc. The results show that elastic deformation of the pallet is most affecting factor on the measuring error, thus pallet design and clamping method need very careful cosiderations.

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Study on the Effect of Product Line Pricing on Loading Efficiency and Logistics Cost (상품라인별 가격결정이 적재효율 및 물류비에 미치는 영향에 관한 연구)

  • Jung, Sung-Tae;Yoon, Nam-Soo;Han, Kyu-Chul
    • Journal of Distribution Science
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    • v.12 no.8
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    • pp.55-69
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    • 2014
  • Purpose - Despite the importance of price, many companies do not implement pricing policies smoothly, because typical price management strategies insufficiently consider logistics efficiency and an increase in logistics costs due to logistics waste. This study attempts to examine the effect of product line pricing, which corresponds to product mix pricing, on logistics efficiency in the case of manufacturer A, and analyzes how logistics performance changes in response to these variables. Research design, data, and methodology - This study, based on the case of manufacturer A, involved research through understanding the current status, analyses, and then proposing improvement measures. Among all the products of manufacturer A, product group B was selected as the research object, and its distribution channel and line pricing were examined. As a result of simulation, for products with low loading efficiency, improvement measures such as changing the number of bags in the box were suggested, and a quantitative analysis was conducted on how these measures influence logistics costs. The TOPS program was used for the Pallet loading efficiency simulation tool in this study. To prevent products from protruding out of the pallet, the maximum measurement was set as 0.0mm, and loading efficiency was based on the pallet area, and not volume. In other words, its size (length x width) was focused upon, following the purpose of this study and, then, the results were obtained. Results - As a result of the loading efficiency simulation, when the number of bags in the box was changed for 36 products with low average loading efficiency of 73.7%, as shown in

    , loading efficiency improved to 89.9%. Further, from calculating logistics cost based on the cost calculation standard of manufacturer A, the amount of annual logistics cost reduction amounted to 101,458,084 KRW. Given that the sum of the logistics cost of the product group B of manufacturing enterprises A is 400,340,850 KRW, it can be reduced by 25%, to 298,882,766 KRW. Although many methods improve loading efficiency, this study proved that logistics cost could be reduced by changing the number of bags within boxes. If this measure is applied to other items, visible logistics cost reduction effects will be realized through improvements in loading efficiency. Conclusions - Future pricing policies should consider their correlation with quality, loading efficiency, product specifications, and logistics standardization to prevent logistics waste, enabling management to improve earnings for companies. Thus, when companies decide pricing policies for new products, the aspects of merchandising and marketing should take priority; however, the aspect of logistics also needs to be considered as significant. Measures revealed by the study results are not only the responsibilities of manufacturing enterprises. Pricing policy agreements between manufacturing enterprises and distribution companies, and logistics factors related to price determination should be considered; further, governments should also support them for their collaborations. This will enable consumers to purchase quality products with low prices.

  • Preparation and Characterization of Iron Phthalocyanine Thin Films by Vacuum Sublimation (진공증착법을 이용한 철프탈로시아닌 박막의 합성과 그 특성)

    • Jee, Jong-Gi;Lee, Jae-Gu;Hwang, Dong-Uk;Lim, Yoon-Mook;Yang, Hyun-Soo;Ryu, Haiil;Park, Ha-Sun
      • Applied Chemistry for Engineering
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      • v.10 no.5
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      • pp.644-651
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      • 1999
    • In this experiment the Iron phthalocyanine (FePc) films on Si-wafer and alumina pallet were prepared using vacuum sublimation with conditions of changing reaction time, temperature, and deposition rate. Then, some samples were annealed following annealing. Techniques such as XRD, SEM, and resistance measurement method, were dedicated to characterize the changes of surface structure, phase transformation and electric resistance sensitivity in accordance with change of film thickness. In proportion to the decrease of deposition temperature from $370^{\circ}C$ to $350^{\circ}C$, intensities of (200), (011), (211) and (114) planes of $\alpha$-phase were decreased and (100) plane of $\beta$-phase were appeared. The film thickness were controlled by regulating the volume of precursor material during rapid deposition. As a result, it was observed that crystalline particle size had been increased according to the increase of film thickness and $\alpha$-phase transformed to $\beta$-phase. In consequence of measuring the crystallinity of films annealed between $150^{\circ}C$ and $350^{\circ}C$, $\alpha$- to $\beta$-phase transformation was appeared to begin at $150^{\circ}C$ and completely transformed to $\beta$-phase at $350^{\circ}C$. Electric resistance sensitivity of FePc film to $NO_x$ gas along temperature change of FePc films was observed to be more stable with the decrease of the film thickness.

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