To assist loading automation carried out by a transportation system.SOLUTION: A loading automation assistance device 10 comprises: a lateral data acquisition unit 11 that acquires three-dimensional point group data generated from output data of a depth sensor installed on the lateral side of a mobile body; a load detection unit 12 that detects the surface of the mobile body front side of a load disposed on a load carrying platform of the mobile body by using three-dimensional point group data of a set height or more among the acquired three-dimensional point group data; a tool detection unit 13 that specifies point group data located on the uppermost surface of a tool disposed on the load carrying platform by using, among the acquired three-dimensional point group data, three-dimensional point group data located on the mobile body front side of the surface of the load, and detects the surface of the mobile body rear side of the tool by using the specified point group data; and a distance calculation unit 14 that calculates a distance between the surface of the load and the surface of the tool.SELECTED DRAWING: Figure 1

    【課題】運搬システムによる荷積みの自動化を支援する。【解決手段】荷積み自動化支援装置10は、移動体の側方に配置された深度センサの出力データから生成された3次元点群データを取得する、側方データ取得部11と、取得された3次元点群データのうち、設定高さ以上にある3次元点群データを用いて、移動体の荷台上に配置されている荷物の移動体前方側の面を検出する、荷物検出部12と、取得され3次元点群データのうち、荷物の面の移動体前方側にある3次元点群データを用いて、荷台上に配置されている治具の最上面にある点群データを特定し、特定した点群データを用いて、治具の移動体後方側の面を検出する、治具検出部13と、荷物の面と治具の面との間の距離を算出する、距離算出部14と、を備えている。【選択図】図1


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    Title :

    LOADING AUTOMATION ASSISTANCE DEVICE, LOADING AUTOMATION ASSISTANCE METHOD, AND PROGRAM


    Additional title:

    荷積み自動化支援装置、荷積み自動化支援方法、及びプログラム


    Contributors:

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES



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