Forklift

Patent metadata

Field	Value
Publication number	US-10414640-B2
Application number	US-201615566463-A
Country	US
Kind code	B2
Filing date	Apr 8, 2016
Priority date	Apr 16, 2015
Publication date	Sep 17, 2019
Grant date	Sep 17, 2019

Abstract

A forklift includes a vehicle body 30 , a fork 22 mounted on the vehicle body, a controller configured to adjust a position and an orientation of the vehicle body, a laser sensor 20 configured to measure distance data from the laser sensor to an object existing in a space set forward of the fork, and a control commander configured to, when the distance data measured by the laser sensor includes a load or a pallet 100 to be lifted, generate track data for moving the vehicle body to a loading position of the load or the pallet based on the distance data, and provide a command to the controller using the generated track data.

First claim

What is claimed is:

1. A forklift comprising:
a vehicle body;
a fork mounted on the vehicle body;
a controller configured to adjust a position and an orientation of the vehicle body;
a laser sensor configured to measure distance data from the laser sensor to an object existing in a space set forward of the fork;
a control commander configured to, when the distance data measured by the laser sensor includes a pallet to be lifted, generate track data for moving the vehicle body to a loading position of the pallet based on the distance data, and provide a command to the controller using the generated track data; and
a lift mechanism configured to move the fork up and down with respect to the vehicle body,
wherein
the laser sensor is configured to measure a distance from the laser sensor to an object in a scanning plane by scanning laser light in a first direction,
the laser sensor is mounted on the fork and is configured to measure three-dimensional distance data from the laser sensor to the object existing in the space set forward of the fork by using an up and down motion of the fork by the lift mechanism in a direction which is different from the first direction, and
the control commander is configured to execute following processes:
(a) acquiring an observation point group from the distance data acquired from the laser sensor;
(b) determining whether or not a point group constituting a straight line can be extracted from the observation point group;
(c) determining whether or not a length of the point group constituting the straight line is substantially equal to a width of the pallet; and
(d) determining whether or not the straight line is constituted of three line segments, such that the control commander identifies a position and an orientation of the pallet based on the distance data, and generates the track data based on the identified position and orientation of the pallet.

2. The forklift according to claim 1 , further comprising:
a tilting mechanism configured to tilt the fork with respect to the vehicle body,
wherein
the laser sensor is configured to measure the three-dimensional distance data from the laser sensor to the object existing in the space set forward of the fork by using a tilting motion of the fork.

3. The forklift according to claim 1 , wherein
the laser sensor is disposed above a lower surface of the fork.

4. The forklift according to claim 3 , wherein
the laser sensor is mounted on the fork with a depression angle with respect to a horizontal direction so that the laser light emitted from the laser sensor is emitted obliquely downward.

5. The forklift according to claim 1 , wherein
when the three-dimensional distance data measured by the laser sensor includes the load or the pallet to be lifted, the control commander is configured to control a motion of the fork so that the laser light emitted from the laser sensor is emitted to a heightwise center of a front surface of the load or the pallet while the vehicle body is moved to the loading position of the load or the pallet based on the three-dimensional distance data.

Assignees

• Toyota Jidoshokki Kk

Inventors

• Tanaka Minoru
• Fujii Akinobu
• Koide Mitsuo
• TSUSAKA Yuuji
• Ichinose Makoto
• Hayakawa Makoto

Classifications

• G01B11/002

  for measuring two or more coordinates · CPC title

• G01B11/02

  for measuring length, width or thickness (G01B11/08 takes precedence) · CPC title

• G01B11/26

  for measuring angles or tapers; for testing the alignment of axes · CPC title

• B66F9/063

  Automatically guided · CPC title

• G01B11/00

  Measuring arrangements characterised by the use of optical techniques · CPC title