Forklift and method for detecting posture of container

Patent metadata

Field	Value
Publication number	US-11524880-B2
Application number	US-202017010249-A
Country	US
Kind code	B2
Filing date	Sep 2, 2020
Priority date	Sep 5, 2019
Publication date	Dec 13, 2022
Grant date	Dec 13, 2022

Abstract

A forklift includes a vehicle body, a loading device, a laser rangefinder, a first extractor configured to extract detection point candidates, a memory that stores at least one of dimension information, position information, and posture information of a container, a second extractor configured to extract at least two posture detection points by checking the detection point candidates against at least one of the dimension information, the position information, and the posture information, and a container posture detector configured to detect a relative angle between the forklift and the container in a vertical direction.

First claim

The invention claimed is:

1. A forklift comprising:
a vehicle body;
a loading device capable of being tilted toward the vehicle body;
a laser rangefinder configured to radiate a laser toward a front side of the loading device while changing a radiation angle with respect to a vertical direction and measure, in correspondence with the radiation angle, a distance to each of radiation points in a group of radiation points that have been struck by the laser;
a first extractor configured to extract detection point candidates from the group of radiation points in a load state in which a container on the front side of the loading device is loaded with a cargo, wherein the detection point candidates are candidates of at least two posture detection points, an inclination of a straight line connecting the posture detection points changes in accordance with an inclination of the container in the vertical direction;
a memory that stores at least one of dimension information of the container, position information of the container, and posture information of the container;
a second extractor configured to extract the posture detection points from the detection point candidates by checking the detection point candidates against at least one of the dimension information, the position information, and the posture information; and
a container posture detector configured to detect a relative angle between the forklift and the container in the vertical direction from the inclination of the straight line.

2. The forklift according to claim 1 , wherein
the container includes four edges that define an opening, the cargo being taken out of and put into the opening,
the four edges include two edges spaced apart from each other in the vertical direction,
the at least two posture detection points include two edge radiation points that are respectively located on the two edges, and
the detection point candidates include edge radiation point candidates, the edge radiation point candidates being candidates of the edge radiation points.

3. The forklift according to claim 1 , wherein the second extractor is configured to extract the posture detection points by checking the detection point candidates against two or more of the dimension information, the position information, and the posture information.

4. The forklift according to claim 1 , wherein the first extractor is configured to extract the detection point candidates from inclinations of line segments each connecting adjacent ones of the radiation points of the group of radiation points.

5. A method for detecting a posture of a container, the method detecting a relative angle between a forklift and the container in a vertical direction, the method comprising:
radiating a laser from the forklift toward the container while changing an radiation angle with respect to the vertical direction and measuring, in correspondence with the radiation angle, a distance to each of radiation points in a group of radiation points that have been struck by the laser;
extracting detection point candidates from the group of radiation points;
extracting at least two posture detection points from the detection point candidates by checking the detection point candidates against at least one of dimension information of the container, position information of the container, and posture information of the container, wherein an inclination of a straight line connecting the posture detection points changes in accordance with an inclination of the container in the vertical direction; and
detecting the relative angle between the forklift and the container in the vertical direction from the inclination of the straight line.

6. The method according to claim 5 , wherein
the container includes four edges that define an opening, a cargo being taken out of and put into the opening,
the four edges include two edges spaced apart from each other in the vertical direction,
the at least two posture detection points include two edge radiation points that are respectively located on the two edges, and
the posture detection points include edge radiation point candidates, the edge radiation point candidates being candidates of the edge radiation points.

7. The method according to claim 5 , wherein extracting the posture detection points includes checking the detection point candidates against two or more of the dimension information, the position information, and the posture information.

8. The method according to claim 5 , wherein extracting the detection point candidates includes extracting the detection point candidates from inclinations of line segments each connecting adjacent ones of the radiation points of the group of radiation points.

Assignees

• Toyota Jidoshokki Kk

Inventors

• Okumura Shunsuke

Classifications

• B66F9/082

  inclinable · CPC title

• B66F9/0755 Primary

  Position control; Position detectors · CPC title

• B66F9/24

  Electrical devices or systems · CPC title