Conveying apparatus

Patent metadata

Field	Value
Publication number	US-11427448-B2
Application number	US-201916574583-A
Country	US
Kind code	B2
Filing date	Sep 18, 2019
Priority date	Oct 4, 2018
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

Distance measurements are performed by a fork pocket detection sensor at a position at which the fork pocket detection sensor faces one of fork pockets and at a position at which the fork pocket detection sensor faces the central position in the horizontal direction between the fork pockets on a pallet side face, and information obtained by combining pieces of distance-measurement information acquired by the distance measurements is compared with information of predefined shapes of the fork pockets, so as to specify the positions of the fork pockets. Hereby, it is possible to accurately detect the positions of the fork pockets without causing a decrease of conveyance efficiency.

First claim

What is claimed is:

1. A conveying apparatus including a distance measurement sensor and a movement power source and configured to convey packages together with a pallet in such a manner that positions of right and left fork pockets provided in a pair on a side face of the pallet on which the packages are placed are detected based on an output from the distance measurement sensor, the conveying apparatus is moved by the movement power source to a position at which blades of a fork face the fork pockets, respectively, and the blades are inserted into the fork pocket, respectively, the conveying apparatus comprising:
a first movement control portion configured to control the movement power source so that the conveying apparatus is placed at a first movement position at which the distance measurement sensor faces one of the fork pockets or the conveying apparatus is placed at a second movement position at which the distance measurement sensor faces a central position in a horizontal direction between the fork pockets on the side face of the pallet;
a fork pocket specifying portion configured to specify the positions of the fork pockets by comparing, with information of predefined shapes of the fork pockets, information formed by combining distance-measurement information acquired by a distance measurement performed on the pallet by the distance measurement sensor at the first movement position and distance-measurement information acquired by a distance measurement performed on the pallet by the distance measurement sensor at the second movement position; and
a second movement control portion configured to control the movement power source so that the conveying apparatus moves to a position at which the blades respectively face the fork pockets the positions of which are specified by the fork pocket specifying portion.

2. The conveying apparatus according to claim 1 , wherein:
the distance measurement sensor is configured to emit light for distance measurement toward the pallet through a region between the blades of the fork in a plan view; and
the first movement control portion is configured to control the movement power source so that the conveying apparatus moves to the second movement position after the distance measurement is performed by the distance measurement sensor at the first movement position.

3. The conveying apparatus according to claim 1 , wherein the fork pocket specifying portion is configured to
form a pallet model having hole portions estimated as the fork pockets by combining the pieces of distance-measurement information,
compare dimensions of the hole portions in the pallet model with a dimension range approximate to predefined dimensions of the fork pockets, and
specify positions of the hole portions as the positions of the fork pockets with a proviso that the dimensions of the hole portions in the pallet model fall within the approximate dimension range.

4. The conveying apparatus according to claim 1 , wherein:
a pallet placement lane on which a plurality of pallets is arranged is adjacent to a conveying apparatus lane where the conveying apparatus moves along the pallet placement lane; and
when each of the distance measurements is to be performed on the pallet by the distance measurement sensor, the conveying apparatus stops at a corresponding one of the first movement position and the second movement position on the conveying apparatus lane.

5. The conveying apparatus according to claim 1 , wherein the distance measurement sensor is fixed at a height position predefined so that the distance measurement sensor faces the side face of the pallet.

Assignees

• Toyota Motor Co Ltd

Inventors

• Nagasawa Katsuhiko

Classifications

• B66F9/0755 Primary

  Position control; Position detectors · CPC title

• B66F9/07572

  Propulsion arrangements · CPC title

• B66F9/063 Primary

  Automatically guided · CPC title

• B66F9/20

  Means for actuating or controlling masts, platforms, or forks (power take-off from vehicle transmissions, combined with vehicle propulsion systems B60K) · CPC title

• G06T7/60

  Analysis of geometric attributes · CPC title