To provide a position posture estimation device that can estimate a position and posture of a pallet with respect to a fork while the pallet is lifted by the fork.SOLUTION: A position posture estimation device 31 comprises a distance measuring sensor 22 that detects a distance from a lower part of a pallet 12 lifted by a fork 9 to a bottom surface 12b of the pallet 12, a corner detecting unit 32 that detects a position of a corner on the bottom surface 12b of the pallet 12 based on the detection data of the distance measuring sensor 22, and an estimation calculation unit 29 that performs estimation calculation of the position and posture of the pallet 12 with respect to the fork 9 based on the positions of the corner on the bottom surface 12b of the pallet 12 detected by the corner detecting unit 32.SELECTED DRAWING: Figure 4

    【課題】フォークによりパレットを持ち上げた状態で、フォークに対するパレットの位置及び姿勢を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31は、フォーク9により持ち上げられたパレット12の下方からパレット12の下面12bまでの距離を検出する測距センサ22と、測距センサ22の検出データに基づいて、パレット12の下面12bにおける角部の位置を検知する角部検知部32と、角部検知部32により検知されたパレット12の下面12bにおける角部の位置に基づいて、フォーク9に対するパレット12の位置及び姿勢の推定演算を行う推定演算部29とを備える。【選択図】図4


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    Title :

    POSITION POSTURE ESTIMATION DEVICE


    Additional title:

    位置姿勢推定装置


    Contributors:

    Publication date :

    2023-05-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / 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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