Method for detecting blind spot in storage compartment

Abstract

To provide a method for detecting blind spots in a storage compartment, which can detect a blind spot area caused by the arrangement of cargo inside an entry / exit room when a pallet is used as a cargo storage space.SOLUTION: A mechanical parking device 100 is used, which has a pallet 5 capable of placing a cart 20 flat, a laser radar device 12, and a data processing device 14. The laser radar device 12 scans laser light 6 across the entire area of the pallet located at an entry / exit position and detects the coordinates of the reflection position RP in real time. Each time one cart 20 is placed flat on the pallet, the data processing device 14 detects an undetected area BA on the pallet using the laser radar device 12, compares the maximum thickness of the undetected area with a predetermined threshold, determines the undetected area as a blind spot area BC if the maximum thickness exceeds the threshold, and displays the determined blind spot area as an image.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a method for detecting blind spots inside a parking space when a pallet of a mechanical parking device is used as a storage space for luggage. [Background technology]

[0002] A mechanical parking system is a facility that stores a large number of vehicles (e.g., passenger cars) in a multi-level manner by installing mechanical devices inside a building constructed above ground or in a space formed underground. There are various types of mechanical parking systems in use, including the elevator system, comb elevator system, vertical circulation system, multi-level circulation system, horizontal circulation system, and flat shuttle system.

[0003] It has been proposed to use the pallets of these mechanical parking devices as luggage storage spaces (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3906328 Summary of the Invention [Problem to be solved by the invention]

[0005] A mechanical parking device is provided with a boarding / deboarding room where a vehicle (e.g., a passenger car) enters and exits (enters or leaves the parking lot), and an entrance / exit door through which the vehicle enters and exits the boarding / deboarding room. When a mechanical parking system is in operation, it is necessary to check that no one (such as a child or elderly person) who needs to be secured remains inside the system. Conventionally, this check has been performed by detecting foreign objects using a photoelectric sensor or a human sensor, or by visual inspection by the manager. Furthermore, in recent years, attempts have been made to automate such safety checks in mechanical parking devices by using laser radar or the like.

[0006] On the other hand, when the pallets of a mechanical parking device are used as a storage space for luggage, the arrangement of the luggage may create blind spots for laser radar, etc., and there is a risk that a person (e.g. a child) located in the blind spot may not be detected.

[0007] The present invention has been devised to solve the above-mentioned problems, that is, an object of the present invention is to provide a method for detecting blind spots in a warehouse, which is capable of detecting blind spots caused by the arrangement of goods on a pallet when the pallet is used as a storage space for goods. [Means for solving the problem]

[0008] According to the present invention, a mechanical parking device is used that includes a boarding / disembarking compartment having a boarding / disembarking position that is a fixed position where a vehicle is parked, a laser radar device that scans the entire area of ​​a pallet located at the boarding / disembarking position with a laser beam and detects the coordinates of the reflected position in real time, a pallet on which a cart can be placed flat, and a data processing device that detects blind spots on the pallet from the coordinates, Each time a cart is placed flat on the pallet, (A) detecting an undetected area on the pallet by the laser radar device; (B) comparing the maximum thickness of the undetected area with a predetermined threshold, and determining the undetected area as a blind spot area if the maximum thickness exceeds the threshold; and (C) a step of displaying the determined blind spot area as an image.

[0009] According to the present invention, the (A) is A step of scanning the laser light over the entire area of ​​the pallet located at the boarding / disembarking position by the plurality of laser radar devices to detect the coordinates of the reflection position; detecting positions of a plurality of corners of the carriage from the detected coordinates; estimating an arrangement pattern from the corner positions; and detecting the undetected area on the pallet from the arrangement pattern. Effect of the Invention

[0010] According to the present invention, every time one cart is laid flat on the pallet, the data processing device can detect undetected areas on the pallet from the coordinates detected by the laser radar device.

[0011] Furthermore, the data processing device detects blind spots from undetected areas. This makes it possible to detect blind spots caused by the arrangement of luggage on a pallet when the pallet is used as a storage location for luggage. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a plan view showing an embodiment of a mechanical parking device. [Diagram 2] FIG. 1 is a plan view showing a first embodiment of an interior blind spot detection device according to the present invention. [Diagram 3] FIG. 1 is an overall flow diagram of a first embodiment of a method for detecting a blind spot inside a container according to the present invention. [Figure 4] FIG. 4 is an explanatory diagram of FIG. [Diagram 5] FIG. 13 is a diagram showing an arrangement pattern including an undetected area when the dimensions of the dolly are the same. [Figure 6] 13 is a diagram showing an arrangement pattern including an undetected area when carriages of different sizes are mixed. FIG. [Figure 7] This illustrates an example in which the method of the first embodiment described above cannot determine the presence or absence of a cart located in an undetected area. [Figure 8] FIG. 11 is a plan view showing an interior blind spot detection device according to a third embodiment of the present invention. [Figure 9] FIG. 11 is a plan view showing an interior blind spot detection device according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, common parts in each drawing are given the same reference numerals, and duplicated explanations will be omitted.

[0014] FIG. 1 is a plan view showing an embodiment of a mechanical parking device 100. 1(A) is a plan view of a boarding / de-boarding room 2. In this figure, a mechanical parking device 100 includes a laser radar device 12 and a data processing device 14.

[0015] In this example, the boarding / disembarking room 2 is the entrance / exit floor of the mechanical parking device 100. In this example, the entrance / exit floor is a rectangular plane surrounded on all four sides by walls 2a, and has an entrance / exit 2b through which a vehicle (not shown) enters and exits the parking lot. Also, an entrance / exit door 3 is provided for opening and closing the entrance / exit 2b. The mechanical parking device 100 is, for example, an elevator parking device, but may also be of another type having a boarding / deboarding compartment 2, for example, a vertical circulation type.

[0016] The laser radar device 12 horizontally and vertically scans the laser light 6 over the entire inside of the boarding / de-boarding compartment 2 without any blind spots to detect the three-dimensional coordinates of the reflection position RP. This detection is preferably performed in real time. Real time means every detection cycle of the sensor. The detection cycle is preferably 100 ms or less, for example, which is a short time that allows reliable detection of people and animals.

[0017] In FIG. 1(A), the laser radar device 12 is a plurality of (two in this example) three-dimensional laser radars 12A. The three-dimensional laser radar 12A is preferably a LIDAR (Laser Imaging Detection and Ranging).

[0018] FIG. 1B is a plan view of the three-dimensional laser radar 12A. As shown in this figure, the horizontal scanning range (horizontal scanning angle θ) of the laser light 6 is at least −45 degrees to +45 degrees from the front (θ=0), and preferably −75 degrees to +75 degrees.

[0019] In FIG. 1(A), a plurality of (two) three-dimensional laser radars 12A are positioned on either side of a fixed position where a vehicle is parked. That is, two or more three-dimensional laser radars 12A are arranged in positions where they can detect the entire area inside the boarding / deboarding compartment as a whole. The fixed position where the vehicle is parked is set in the center of the boarding / disembarking area 2, and in this example, a pallet 5 on which the vehicle is placed is located at the fixed position. In this example, the two 3D laser radars 12A are disposed at positions A and B in the figure, facing each other toward the center of the pallet 5. Note that they may also be disposed at positions C and D in the figure, or at three or more positions.

[0020] FIG. 1C is a side view of the three-dimensional laser radar 12A. In this figure, the vertical scanning range (vertical scanning angle α) of the laser light 6 is preferably −5 degrees to +35 degrees with respect to the horizontal (α=0).

[0021] In Figures 1(A) and 1(C), multiple 3D laser radars 12A are installed so that the closest optical path of the laser light 6 does not exceed a threshold value X (described later) from the inner wall and floor surface 2c of the boarding / de-boarding compartment 2.

[0022] In FIG. 1(C), the three-dimensional laser radar 12A is installed at a height such that a target animal M cannot enter between the radar and the floor surface 2c of the boarding / deboarding room 2.

[0023] In the present invention, the target animal M is assumed to be a small child (eg, a three-year-old child) that may move around the passenger compartment by itself, and also includes larger humans (eg, an elderly person). In the embodiment described below, the minimum thickness of the target animal M is set to, for example, 300 mm. Therefore, objects (other than vehicles and dollies) whose minimum thickness is greater than the minimum thickness of the target animal M are also included in the target animal M. On the other hand, animals (e.g., kittens, small birds, etc.) whose minimum thickness is shorter than the minimum thickness of the target animal M are not included in the target animal M.

[0024] The irradiation height h of the laser light 6 of the three-dimensional laser radar 12A is set to a height lower than the minimum height of the target animal M (for example, 200 mm). This configuration makes it possible to reliably detect target animals M (children and elderly people) within the irradiation range of the three-dimensional laser radar 12A.

[0025] In FIG. 1(A), the two three-dimensional laser radars 12A are installed at positions (eg, 200 mm from the inner wall) where a target animal M cannot enter between them and the inner wall of the boarding / deboarding room 2. This configuration makes it possible to prevent the target animal M from entering behind the three-dimensional laser radar 12A. Incidentally, an intrusion prevention measure (for example, a partition wall, etc.) may be installed on the back side of the three-dimensional laser radar 12A to prevent the target animal M from entering.

[0026] In FIG. 1(A), a data processing device 14 is, for example, a computer (PC), and detects a target animal M from detection data d from a laser radar device 12. The data processing device 14 includes an input device 14a, an output device 14b, a storage device 14c, and an arithmetic unit 14d. The data processing device 14 stores unmanned data d1, which is detection data d when the target animal M is not present inside the boarding / deboarding compartment 2, in the storage device 14c. Furthermore, when the vehicle leaves the garage, the data processing device 14 removes the unmanned data d1 from the detection data d of the laser radar device 12, and detects the detected object after the removal as the target animal M. Furthermore, when the vehicle enters the warehouse, the data processing device 14 removes the unmanned data d1 and the vehicle detection data d2 included in the detection data d from the detection data d of the laser radar device 12, and detects the detected object after the removal as the target animal M. The vehicle detection data d2 can be stored when the vehicle is located at a fixed position when entering the warehouse.

[0027] With the above-mentioned configuration, the laser radar device 12 of the mechanical parking device 100 detects and stores in advance unmanned data d1 when the target animal M is not present inside the boarding / de-boarding room 2. Therefore, the unmanned data d1 includes position data (e.g., three-dimensional coordinates) of the walls, pillars, equipment, etc. in the entire inside area of ​​the boarding / de-boarding room 2 when the target animal M is not present.

[0028] In addition, since the laser radar device 12 acquires detection data d of the entire inside area in real time, the acquired detection data d includes unmanned data when the target animal M is not present and position data of the target animal M.

[0029] Furthermore, since the unmanned data d1, or the unmanned data d1 and the vehicle detection data d2 are removed from the detection data d detected in real time by the laser radar device 12, the target animal M can be detected in the data after removal.

[0030] Therefore, the target animal M in the boarding / disembarking compartment can be reliably detected in real time without human intervention.

[0031] The following describes the case where the pallet 5 is used as a storage space for luggage.

[0032] (First embodiment) FIG. 2 is a plan view showing an interior blind spot detection device 10 according to a first embodiment of the present invention. In this figure, the interior blind spot detection device 10 includes the above-mentioned mechanical parking device 100 and a plurality of trolleys 20.

[0033] The mechanical parking device 100 has the above-mentioned boarding and disembarking compartment 2, a laser radar device 12, and a data processing device 14. The boarding / disembarking room 2 has a vehicle boarding / disembarking position, in which an empty pallet 5 is positioned horizontally when the dolly 20 is brought in. The laser radar device 12 scans the laser light 6 over the entire pallet located at the boarding / disembarking position of the boarding / disembarking room 2, and detects the three-dimensional coordinates of the reflection position. In this example, the detection range of the three-dimensional laser radar 12A is preferably a distance that allows the laser light 6 to be scanned over the entire pallet. The data processing device 14 detects a blind spot area BC on the pallet from the detected three-dimensional coordinates. The algorithm for detecting a blind spot area will be described later.

[0034] The cart 20 has a rectangular parallelepiped shape overall, has a preset cart width CB and cart length CL, and is configured so as to be able to be placed flat on a pallet. The overall height of the trolley 20 may be equal to or less than the overall height of the vehicle to be stored in the mechanical parking device 100. The size of the carriage 20 is not limited to one type, but may be of multiple types. The cart 20 may be, for example, a cage cart with wheels. The minimum height of the cage cart is set to a height (for example, 100 mm or less) that prevents the target animal M, which needs to be secured, from entering under the cart. Moreover, the dolly 20 has a cover or curtain that reflects the laser light 6 so that the position of the outer circumferential surface of the dolly 20 can be reliably detected by the laser radar device 12.

[0035] The trolley loading range on the pallet is set to be less than the vehicle loading range. For example, the overall width of the trolley loading area must be 1,800 mm or less, and the overall length must be 5,000 mm or less. In this case, when the gap between the bogies is set to 100 mm or less, the bogie width CB is, for example, about 1800 mm, about 850 mm, or about 550 mm, and the bogie length CL is, for example, about 5000 mm, about 2450 mm, about 1600 mm, or about 1200 mm.

[0036] FIG. 3 is an overall flow diagram of a first embodiment of a method for detecting a blind spot inside a container according to the present invention, and FIG. 4 is an explanatory diagram of FIG. In FIG. 3, the method for detecting a blind spot inside a container of the present invention uses the above-described interior blind spot detection device 10 and includes steps S1 to S11.

[0037] In step S1, the dolly 20 is laid flat on an empty pallet (see FIG. 4(A)). This laying operation is preferably performed by a transport robot (not shown), but may also be performed by a person (for example, a transporter). In step S1, when multiple carts 20 are laid flat on one pallet, it is preferable that the gap between adjacent carts is equal to or smaller than a preset maximum gap. The maximum gap is preferably set to a value (e.g., 100 to 200 mm) smaller than the minimum thickness in a plan view of a target animal M (e.g., a 3-year-old child) whose safety needs to be ensured. This configuration can prevent the target animal M (for example, a three-year-old child) from hiding in the gap between adjacent carts. In the present invention, the gap between the carriages is not limited to being equal to or less than the maximum gap, and may exceed the maximum gap due to human (for example, carrier) error or the like.

[0038] In step S2, the laser radar devices 12 scan the entire area of ​​the pallet located at the boarding / disembarking position with the laser light 6 to detect the three-dimensional coordinates of the reflection position RP (see FIG. 4(B)). In step S3, a plurality of corner positions CP of the cart 20 are detected from the detected three-dimensional coordinates (see FIG. 4(C)). In step S4, an arrangement pattern AP is estimated from the corner position CP based on the preset carriage width CB and carriage length CL (see FIG. 4(D)). In step S5, an undetected area BA on the pallet is detected from the arrangement pattern AP (see FIG. 4(E)).

[0039] In step S6, the maximum thickness BAb of the undetected area BA in a plan view is calculated. The maximum thickness BAb means the length of the short side of a rectangle surrounding the undetected area BA. In step S7, the maximum thickness BAb of the undetected area BA in a planar view is compared with a threshold value X. The threshold value X is set to a value (e.g., 300 mm) smaller than the minimum thickness in a planar view of a target animal M (e.g., a 3-year-old child) whose safety needs to be ensured. The minimum thickness of the target animal M means the length of the short side of a rectangle surrounding the target animal M in a planar view.

[0040] In step S7, if the maximum thickness BAb exceeds the threshold value X (YES), the undetected area BA is determined to be a blind area BC in step S8. In step S9, an alarm is issued. The alarm may be displayed on an operation panel, a display device installed for logistics purposes, a mobile terminal, or the like, or may be displayed as a warning light or may be notified by voice.

[0041] In step S10, an image is displayed on the display device (image display). This image may be the arrangement pattern AP (see FIG. 4(E)) including the undetected area BA, or the arrangement pattern AP (see FIG. 4(F)) after correction to eliminate the blind spot area BC. The corrected arrangement pattern AP can be set by moving a part of the carriage 20 from the arrangement pattern AP including the undetected area BA to the undetected area BA.

[0042] After step S10, the process returns to step S1, and the dolly 20 is repositioned by the transport robot or a person (eg, a carrier). On the other hand, if it is determined in step S7 that the maximum thickness BAb is equal to or smaller than the threshold value X (NO), it is determined in step S11 that there is no blind spot area, and the method for detecting a blind spot inside a container of the present invention is terminated.

[0043] It is preferable that each of the above-mentioned steps S1 to S11 is performed with the entrance door 3 fully open. In this case, the laser light 6 used is one that ensures safety for people.

[0044] FIG. 5 is a diagram showing an arrangement pattern AP including an undetected area BA when the dimensions of the carts 20 are the same. Of these, (A) is an example of 1 row x 4 machines (hereinafter referred to as "1 x 4"), the same as Figure 4 (E), (B) and (C) are 2 rows x 2 machines (hereinafter referred to as "2 x 2"), (D) to (H) are 2 rows x 3 machines (hereinafter referred to as "2 x 3"), and (I) to (L) are 3 rows x 3 machines (hereinafter referred to as "3 x 3").

[0045] As described above, if in step S1 the gap between adjacent carriages is set to a preset maximum gap or less, (E) (F) (H) (J) to (L) in Figure 5 can suppress the occurrence of undetected areas BA.

[0046] FIG. 6 is a diagram showing an arrangement pattern AP including an undetected area BA when carriages 20 of different dimensions are mixed. Among these, when the gap between adjacent carriages is set to a preset maximum gap or less in step S1, (B) (D) (E) (G) (H) in FIG. 6 can suppress the occurrence of undetected areas BA.

[0047] Second embodiment FIG. 7 illustrates a case where the presence or absence of a cart 20 located in an undetected area BA cannot be determined by the method of the first embodiment described above. For example, in the examples of (A) to (C), when the cart 20 shown by the dashed line is present in the undetected area BA, the maximum thickness BAb of the undetected area BA is small, and even though there is no blind spot area BC, the method of the first embodiment will result in a false detection that a blind spot area BC exists. In the example (D), the method of the first embodiment cannot determine the presence or absence of the cart 20 in the central portion surrounded by the carts 20. Therefore, if the central portion is not determined to be a blind spot area BC, there is a possibility that a target animal M (e.g., a 3-year-old child) whose safety needs to be ensured is hiding in the central portion.

[0048] To solve this problem, in the second embodiment, the dimensions and number of the carts 20 on the pallet are stored in advance, and the presence or absence of a cart 20 located in the undetected area BA is determined. That is, after estimating the arrangement pattern AP in step S4 described above, the size and number of the carts 20 are collated with those stored in advance to determine the presence or absence of the carts 20 located in the undetected area BA. With this configuration, even in the cases of (A) to (D) of FIG. 7, it is possible to determine the presence or absence of the dolly 20 indicated by the dashed line, thereby reducing false detections and improving safety.

[0049] Third embodiment FIG. 8 is a plan view showing an interior blind spot detection device 10 according to a third embodiment of the present invention. In this example, the interior blind spot detection device 10 is equipped with a pallet rotating device 16 that horizontally rotates the pallet 5 at the boarding / disembarking position. In this figure, (A) is the same state as FIG. 4(A), (B) is a state rotated 45 degrees to the right from (A), (C) is a state rotated 90 degrees to the right, and (D) is a state rotated 180 degrees to the right.

[0050] In the method of this embodiment, the pallet 5 is rotated horizontally, and the three-dimensional coordinates of the cart 20 are acquired at a plurality of rotation positions. Next, the maximum thickness BAb of the undetected area BA in a planar view is calculated at multiple turning positions, and the minimum value among them is compared with a threshold value X. If this minimum value exceeds the threshold value X, the undetected area BA is determined to be a blind spot area BC. That is, the minimum value of the maximum thickness BAb among a plurality of undetected areas BA obtained at a plurality of rotation positions is compared with the threshold value X.

[0051] When the pallet 5 is rotated horizontally, it is preferable to fully close the entrance door 3 to ensure safety. Therefore, in this embodiment (third embodiment), between steps S1 and S2 in FIG. 3, the entrance door 3 is fully closed (S1-2), steps S2 to S6 are performed, and then the pallet 5 is horizontally rotated (S6-2), and steps S2 to S6-2 are repeated multiple times. Next, the maximum thickness BAb in step S7 is replaced with "the minimum value of the maximum thicknesses BAb among the multiple undetected areas BA obtained at the multiple rotation positions." The other methods are the same as those in the first embodiment.

[0052] With this configuration, as shown in FIG. 8B, the undetected area BA can be minimized, and the detection rate of the blind spot area BC can be reduced. In addition, in this embodiment, the required number of laser radar devices 12 can be minimized (only one). The number of turning positions may be two or more. Regarding the horizontal rotation angle, when there is only one laser radar device 12, it is preferable that one rotation (360 degrees) is performed and the undetected area BA is detected at two or more rotation positions. When there are two or more laser radar devices 12, the horizontal rotation angle may be half a turn (180 degrees) or less.

[0053] (Fourth embodiment) FIG. 9 is a plan view showing an interior blind spot detection device 10 according to a fourth embodiment of the present invention. In this example, as shown in (A), the dolly loading area on the pallet is virtually divided into multiple blocks 8 with width and length equal to or less than a threshold. The threshold value X is set to a value (e.g., 300 mm) smaller than the minimum thickness in a plan view of a target animal M (e.g., a 3-year-old child) whose safety needs to be ensured. For example, if the trolley loading range is 1,800 mm wide and 5,000 mm long, the size of each block 8 is 300 mm x 300 mm, and it is divided into 96 blocks (6 x 16).

[0054] Moreover, the undetected area BA is detected in the same manner as in the first embodiment described above. In this example, if there is one or more blocks 8 in the undetected area BA, the undetected area BA is determined to be a blind spot area BC. With this configuration, steps S6 and S7 in the first embodiment can be omitted, and the presence or absence of the blind spot area BC can be easily determined.

[0055] Fifth embodiment In the embodiment described above, after all the carts 20 are laid flat on the pallet in step S1, the laser light 6 is irradiated in step S2. In contrast to this, each time one cart 20 is laid flat on the pallet, S2 to S11 of the first embodiment may be carried out to detect the presence or absence of the blind spot area BC. In this case, it is preferable that the laser light 6 used is one that ensures safety for people, and that each of the above-mentioned steps S1 to S11 is carried out with the entrance door 3 fully open.

[0056] According to this method, every time one cart 20 is laid flat, if there is a blind spot area BC, an alarm (warning) is issued in step S9, and the cart position can be corrected each time. In response to an alarm, it is preferable that the worker inputs that he / she has confirmed the blind spot area BC during safety confirmation, or that a layout for eliminating the blind spot area BC is displayed to the worker in step S10.

[0057] According to the embodiment of the present invention described above, the trolley 20 has a preset trolley width CB and trolley length CL, and is placed flat on the pallet. Therefore, the data processing device 14 can estimate the arrangement pattern AP of the trolleys 20 on the pallet at the boarding / disembarking position from the three-dimensional coordinates detected by the laser radar device 12, and detect continuous undetected areas BA on the pallet from the arrangement pattern AP.

[0058] Furthermore, the data processing device 14 detects the blind spot area BC from the undetected area BA. For example, the maximum thickness BAb of the undetected area BA in a planar view is calculated, and the maximum thickness BAb is compared with a threshold value X. If the maximum thickness BAb exceeds the threshold value X, the undetected area BA is determined to be a blind spot area BC. This makes it possible to detect blind spots BC that arise due to the arrangement of luggage in the boarding / deboarding compartment when the pallet 5 is used as a luggage storage space.

[0059] The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0060] AP placement pattern, BA undetected area, BAb maximum thickness, BC blind spot area, CB bogie width, CP corner position, CL bogie length, d detection data, d1 unmanned data, d2 vehicle detection data, M target animal, RP reflex position, X threshold, 2 Passenger room, 2a Wall, 2b Entrance, 2c Floor, 3 Entrance door, 5 Pallet, 6 Laser light, 8 Block, 10 Blind spot detection device inside the warehouse, 12 Laser radar device, 12A 3D laser radar, 14 data processing device, 14a input device, 14b output device, 14c storage device, 14d calculation device, 16 pallet rotation device, 20 carts, 100 mechanical parking devices

Claims

1. A mechanical parking device is used, the mechanical parking device having a boarding / disembarking area having a boarding / disembarking position which is a fixed position where a vehicle is parked, a laser radar device which scans an entire area of ​​a pallet located at said boarding / disembarking position with a laser beam and detects the coordinates of the reflected position in real time, a pallet on which a cart can be placed flat, and a data processing device which detects blind spots on the pallet from said coordinates, Each time a cart is placed flat on the pallet, (A) detecting an undetected area on the pallet by the laser radar device; (B) comparing the maximum thickness of the undetected area with a predetermined threshold, and determining the undetected area as a blind spot area if the maximum thickness exceeds the threshold; (C) a step of displaying the determined blind spot area as an image.

2. The (A) is A step of scanning the laser light over the entire area of ​​the pallet located at the boarding / disembarking position by the plurality of laser radar devices to detect the coordinates of the reflection position; detecting positions of a plurality of corners of the carriage from the detected coordinates; estimating an arrangement pattern from the corner positions; The method for detecting a blind spot inside a refrigeration cabinet according to claim 1, further comprising: detecting the undetected area on the pallet from the arrangement pattern.

3. The method for detecting a blind spot inside a refrigeration facility according to claim 1 or 2, wherein a vertical scanning range of the laser light of the laser radar device is set horizontally.

4. The method for detecting a blind spot inside a warehousing container according to claim 1 or 2, further comprising: a pallet rotating device for horizontally rotating the pallet at the boarding / disembarking position; and determining that the undetected area is the blind spot area during horizontal rotation.

5. The method for detecting a blind spot inside a storage facility according to claim 4, wherein one of the carts is arranged in a width direction of the pallet.

6. The method for detecting a blind spot inside a storage container according to claim 5 , wherein the cart is a vehicle.

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