To provide a location estimation system for suppressing a decrease in estimation precision of a position caused by a loaded state or luster of a coil.SOLUTION: A location estimation system includes: a distance sensor 6a that is installed in a trolley 4 and scans and measures distance to an object located in a side of a floor surface 100 by using a laser La; and a control operation unit 8 that specifies at least one coil C mounted in a side of the floor surface 100 as a position estimation object, moves the trolley 4 along a direction of a cross section of the position estimation object and allows the distance sensor 6a to scan and measure it, calculates a point in which the laser La passes height H of a coil center Ax of the position estimation object for each measurement point Pm as a virtual passage point Pv, extracts the virtual passage point Pv located in a side closest to the position estimation object as an edge candidate point Pc that can become a coil edge Pe in a direction of a cross section of the position estimation object, and derives a position of the position estimation object on the basis of the coil edge Pe estimated from the edge candidate point Pc.SELECTED DRAWING: Figure 10
【課題】 コイルの積載状態又は光沢に起因したコイルの位置の推定精度の低下を抑える位置推定システムを提供する。【解決手段】 位置推定システムは、トロリ4に設置され、レーザLaを用いて床面100の側にある物体までの距離をスキャン計測する距離センサ6aと、床面100の側に載置されている少なくとも1つのコイルCを位置推定対象として特定し、位置推定対象の横断面方向に沿って、トロリ4を移動させながら距離センサ6aにスキャン計測させ、計測点PmごとにレーザLaが位置推定対象のコイル中心Axの高さHを通過した点を仮想通過点Pvとして算出し、位置推定対象に最も近い側にある仮想通過点Pvを、位置推定対象の横断面方向でのコイル端部Peとなり得る端部候補点Pcとして抽出し、端部候補点Pcから推定されたコイル端部Peに基づいて位置推定対象の位置を導出する制御演算部8と、を備える。【選択図】 図10
LOCATION ESTIMATION SYSTEM AND LOCATION ESTIMATION METHOD
位置推定システム及び位置推定方法
2024-04-15
Patent
Electronic Resource
Japanese
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