To detect the angle between a forklift and a container relative to the vertical direction.SOLUTION: A forklift includes a control unit and a distance meter. The distance meter is a laser range finder capable of recognizing the surrounding environment by irradiating the periphery with a laser and receiving light reflected from the irradiation point P hit by the laser. The control unit extracts edge irradiation point candidates P1 to P4 from the irradiation point P. The edge irradiation point candidates P1 to P4 are candidates for edge irradiation points P1 and P2, which are irradiation points P that hit two vertically separated edges among the edges surrounding the opening of the container. The control unit extracts the edge irradiation points P1 and P2 by matching the dimensional, positional, and orientation information with the edge irradiation point candidates P1 to P4. The control unit detects the relative angle between the forklift and the container in the vertical direction from the inclination of the line L connecting the edge irradiation points P1 and P2.SELECTED DRAWING: Figure 9

    【課題】鉛直方向に対するフォークリフトとコンテナとの相対角度を検出すること。【解決手段】フォークリフトは、制御装置と、距離計と、を備える。距離計は、レーザーを周辺に照射し、レーザーが当たった照射点Pから反射された反射光を受信することで周辺環境を認識可能なレーザーレンジファインダである。制御装置は、照射点Pから縁照射点候補P1〜P4を抽出する。縁照射点候補P1〜P4とは、コンテナの開口部を囲む縁のうち互いに鉛直方向に離間した2つの縁に当たった照射点Pである縁照射点P1,P2の候補である。制御装置は、寸法情報、位置情報及び姿勢情報と、縁照射点候補P1〜P4とを照合することで縁照射点P1,P2を抽出する。制御装置は、縁照射点P1,P2同士を結ぶ直線Lの傾きから鉛直方向に対するフォークリフトとコンテナとの相対角度を検出する。【選択図】図9


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    Title :

    FORKLIFT AND CONTAINER POSTURE DETECTION DEVICE


    Additional title:

    フォークリフト及びコンテナ姿勢検出方法


    Contributors:

    Publication date :

    2021-03-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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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