To provide a position/attitude estimation device capable of estimating with high accuracy a post pallet position and a post pallet attitude with respect to a forklift.SOLUTION: A position/attitude estimation device 21 comprise: a laser sensor 12 configured to irradiate laser toward the front face of a post pallet 5 and receive laser reflected light so as to detect a distance to the post pallet 5 and acquire point group data; a plane detection unit 17 configured to detect a plane corresponding to a front face 7a of a pallet part 7 and to a front face 8a of a column part 8 based on the point group data; and an estimation calculation unit 18 configured to perform calculation for estimating position and attitude of the post pallet 5 with respect to a forklift 1 using the plane corresponding to the front faces 7a, 8a. The estimation calculation unit 18 extracts a transverse line corresponding to the pallet part 7 and a vertical line corresponding to the column part 8 based on the plane corresponding to the front faces 7a, 8a, and calculates the position and the attitude of the post pallet 5 with respect to the forklift 1 based on the transverse line and the vertical line.SELECTED DRAWING: Figure 3

    【課題】フォークリフトに対するポスト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21は、ポストパレット5の前面に向けてレーザを照射し、レーザの反射光を受光することにより、ポストパレット5までの距離を検出して点群データを取得するレーザセンサ12と、点群データに基づいて、パレット部7の前面7a及び柱部8の前面8aに相当する平面を検知する平面検知部17と、前面7a,8aに相当する平面を用いて、フォークリフト1に対するポストパレット5の位置及び姿勢の推定演算を行う推定演算部18とを備え、推定演算部18は、前面7a,8aに相当する平面に基づいて、パレット部7に相当する横線と柱部8に相当する縦線とを抽出し、横線及び前記縦線に基づいて、フォークリフト1に対するポストパレット5の位置及び姿勢を算出する。【選択図】図3


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    Title :

    POSITION/ATTITUDE ESTIMATION DEVICE


    Additional title:

    位置姿勢推定装置


    Contributors:

    Publication date :

    2023-06-05


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



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