To provide a position and attitude estimation device that can accurately estimate the position and attitude of a pallet to be loaded to and unloaded from a forklift.SOLUTION: A position and attitude estimation device 24 comprises a laser sensor 11 that detects the distance to a pallet 5, a plane equation calculation unit 19 that calculates the plane equation of the front surface 5a of the pallet 5 based on the detection data of the laser sensor 11, and an estimation calculation unit 21 that estimates the position and attitude of the pallet 5 using the plane equation of the front surface 5a of the pallet 5 calculated by the plane equation calculation unit 19. The estimation calculation unit 21 calculates the yaw angle, pitch angle, and roll angle of the pallet 5 as the posture of the pallet 5.SELECTED DRAWING: Figure 2
【課題】フォークリフトに対する荷役対象のパレットの位置及び姿勢を高精度に推定することができる位置姿勢推定装置を提供する。【解決手段】位置姿勢推定装置24は、パレット5までの距離を検出するレーザセンサ11と、レーザセンサ11の検出データに基づいて、パレット5の前面5aの平面方程式を算出する平面方程式算出部19と、平面方程式算出部19により算出されたパレット5の前面5aの平面方程式を用いて、パレット5の位置及び姿勢を推定する推定演算部21とを備え、推定演算部21は、パレット5の姿勢としてパレット5のヨー角、ピッチ角及びロール角を計算する。【選択図】図2
POSITION AND ATTITUDE ESTIMATION DEVICE
位置姿勢推定装置
2021-03-18
Patent
Electronic Resource
Japanese
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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen |
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