To provide an automatic operation forklift capable of recognizing an object in front accurately with a simple structure and recognizing an object in front even in a state where a load or a pallet is mounted on a fork.SOLUTION: An automatic operation forklift 10 includes a vehicle body 11, a traveling unit 12 traveling and steering the vehicle body forward and backward, a fork 13 mounted on a vehicle body front portion, a fork driving unit 14 moving the fork upward/downward, a position sensor 15a, and a control unit 16 controlling the traveling unit and the fork driving unit based on traveling data 16b with reference to a present position by the position sensor. The automatic operation forklift further includes an object detection unit 20 including a sensor unit 22 and a shape recognition unit 24. The sensor unit includes sensors 22, 23 mounted on the vehicle body to acquire a three-dimensional point group in front. The shape recognition unit 24 recognizes a shape and a position of the object positioned in front according to the three-dimensional point group 25 acquired by the sensor unit.SELECTED DRAWING: Figure 2
【課題】簡単な構成で正確に前方の物体を認識でき、フォークに荷又はパレットを搭載した状態においても前方の物体の認識が可能である自動運転フォークリフトを提供する。【解決手段】車体11と、車体を前後に走行させると共に操舵する走行部12と、車体前部に取り付けたフォーク13と、フォークを上下に昇降させるフォーク駆動部14と、位置センサ15aと、位置センサによる現在位置を参照しながら走行データ16bに基づいて走行部及びフォーク駆動部を制御する制御部16と、を備え、さらに、センサ部22と形状認識部24から成る対象物検出部20を備え、センサ部が車体に取り付けられ前方の三次元点群を取得するセンサ22,23から成り、形状認識部24がセンサ部で取得された三次元点群25から前方に位置する物体の形状及び位置を認識するように、自動運転フォークリフト10を構成する。【選択図】図2
AUTOMATIC OPERATION FORKLIFT
自動運転フォークリフト
2022-03-03
Patent
Elektronische Ressource
Japanisch
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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