To provide a forklift that can estimate a self location with high accuracy regardless of the presence or absence of a map.SOLUTION: A forklift 1 includes: a feature point acquisition unit 111 that acquires feature points from an image taken by an imaging device 12 provided on a vehicle body; a map matching processing unit 112 that compares the feature points acquired by the feature point acquisition unit with map data in which the feature points of a work area are recorded in advance, and executes first processing to estimate a location of the vehicle body; a location estimation unit 113 that executes second processing to estimate the location of the vehicle body while generating a map from the feature points acquired by the feature point acquisition unit; and a changeover unit 114 for changing from the first processing to the second processing when the comparison result between the feature point acquired by the feature point acquisition unit and the feature point of the map data does not satisfy a predetermined condition.SELECTED DRAWING: Figure 2

    【課題】地図の有無に関わらず高い精度で自己位置を推定することができるフォークリフトを提供する。【解決手段】フォークリフト1は、車体に設けられた撮影装置12が撮影した画像から特徴点を取得する特徴点取得部111と、前記特徴点取得部が取得した前記特徴点と、作業領域の特徴点を予め記録した地図データとを照合し、前記車体の位置を推定する第1処理を実行するマップマッチング処理部112と、前記特徴点取得部が取得した前記特徴点から地図を生成しながら、前記車体の位置を推定する第2処理を実行する位置推定部113と、前記特徴点取得部が取得した前記特徴点と前記地図データの特徴点との照合結果が所定の条件を満たしていない場合、前記第1処理から前記第2処理に切り替える切替部114と、を備える。【選択図】図2


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    Title :

    FORKLIFT, LOCATION ESTIMATION METHOD, AND PROGRAM


    Additional title:

    フォークリフト、位置推定方法、及びプログラム


    Contributors:

    Publication date :

    2022-03-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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