Industrial vehicles

Abstract

To provide an industrial vehicle that can appropriately and safely transport a cargo.SOLUTION: An industrial vehicle 1 includes: a travel device 2; a cargo handling device 3 that has a fork 13 capable of loading a cargo; and a travel control device 30 that controls travel. The fork 13 is provided with a three-dimensional sensor 20 that obtains three-dimensional information of a space below the fork 13. The travel control device 30 has: a discrimination unit 32 that determines, based on the three-dimensional information, whether an object existing between a travel surface of the vehicle and the three-dimensional sensor 20 is a target object on which the cargo supported by the fork 13 should be placed or an obstacle; a calculation unit 33 that calculates a distance between the vehicle and the object based on the three-dimensional information; and a determination unit 34 that determines whether or not the travel device 2 or the cargo handling device 3 can operate based on a discrimination result of the object by the discrimination unit 32 and a calculation result of the distance by the calculation unit 33.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to industrial vehicles. [Background technology]

[0002] An example of a conventional industrial vehicle is the one described in Patent Document 1. This conventional industrial vehicle is equipped with a loading device having forks capable of loading cargo, and a two-dimensional sensor installed in front of the loading device. In this industrial vehicle, the two-dimensional sensor scans a laser beam horizontally in front of the loading device to detect an object that blocks the laser beam. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-195215 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional industrial vehicle described above, a two-dimensional sensor detects objects present on the travel path. However, in a configuration in which a laser beam from the two-dimensional sensor is projected forward of the vehicle, it is considered that sufficient detection accuracy cannot be obtained for objects present at a different height from the two-dimensional sensor. Therefore, there is a risk that sufficient detection accuracy cannot be ensured depending on the height position of the object present on the travel path.

[0005] Furthermore, in the conventional industrial vehicles described above, the two-dimensional sensor does not determine whether the object detected by the two-dimensional sensor is the object on which the load supported by the forks should be placed. The distance that must be maintained between the industrial vehicle and the detected object varies depending on whether the detected object is an object or an obstacle. Therefore, in order to transport loads appropriately and safely, it is essential to properly recognize the type of detected object.

[0006] The present disclosure has been made to solve the above-mentioned problems, and has an object to provide an industrial vehicle that can transport loads appropriately and safely. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, an industrial vehicle includes a traveling device, a loading device having forks capable of loading cargo, and a traveling control device that controls traveling. The forks are provided with three-dimensional sensors that acquire three-dimensional information about a space below the forks. The traveling control device includes a discrimination unit that discriminates, based on the three-dimensional information, whether an object present between the traveling surface of the vehicle and the three-dimensional sensor is an object on which a cargo supported by the forks should be placed or an obstacle, a calculation unit that calculates the distance between the vehicle and the object based on the three-dimensional information, and a determination unit that determines whether to operate the traveling device or the loading device based on the object determination result by the discrimination unit and the distance calculation result by the calculation unit.

[0008] In this industrial vehicle, the forks are equipped with three-dimensional sensors that acquire three-dimensional information about the space below the forks. Because the three-dimensional information is acquired about the space below the forks, the distance to an object on the travel path can be detected separately from the longitudinal distance between the industrial vehicle and the vehicle. In this industrial vehicle, the detected object is determined to be a target or an obstacle based on the three-dimensional information. Then, based on the object determination result and the distance calculation result using the three-dimensional information, it is determined whether the traveling device or the loading device should operate. Therefore, in this industrial vehicle, an appropriate distance from the object can be maintained depending on the type of detected object, allowing for appropriate and safe transport of cargo.

[0009] The traveling device and the loading device may have multiple operation modes according to the type of work. The determination unit may have a determination table for determining whether the traveling device or the loading device is operable for each operation mode. In this case, an appropriate distance can be maintained between the industrial vehicle and the object according to each operation mode. Therefore, the transport of the load can be carried out more appropriately and safely.

[0010] The calculation unit may calculate the distance between the traveling surface and the three-dimensional sensor as the reference distance based on the three-dimensional information when no object is present between the traveling surface and the three-dimensional sensor. In this case, the accuracy of distinguishing the type of object based on the three-dimensional information and the accuracy of calculating the distance to the object can be improved.

[0011] The industrial vehicle may further include a self-position estimation sensor that estimates the self-position of the vehicle. The determination unit may determine whether the traveling device or the loading device can operate when the distance between the vehicle and the object acquired by the self-position estimation sensor is equal to or less than a predetermined threshold. In this case, when the distance between the vehicle and the object is greater than the predetermined threshold, i.e., when the vehicle and the object are sufficiently far apart, the determination of whether the traveling device or the loading device can operate is omitted. This reduces the processing load on the determination unit.

[0012] The detection axis of the three-dimensional sensor may be aligned with the direction of fork movement, which simplifies the process by eliminating the need for corrections to account for the inclination of the detection axis when determining the type of object and calculating the distance to the object. [Effects of the Invention]

[0013] According to the present disclosure, an industrial vehicle that can transport loads appropriately and safely can be provided. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a side view showing an example of an industrial vehicle according to the present disclosure. [Figure 2] FIG. 2 is a block diagram illustrating the functional elements of an industrial vehicle. [Figure 3] FIG. 3 is a diagram illustrating an example of an operation mode. [Figure 4] FIG. 4 is a diagram showing another example of an operation mode. [Figure 5] FIG. 5 is a diagram showing yet another example of an operation mode. [Figure 6]FIG. 6 is a diagram illustrating an example of the determination table. [Figure 7] FIG. 7 is a flowchart showing an example of the operation of the industrial vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0015] Fig. 1 is a side view showing an example of an industrial vehicle 1 according to the present disclosure. The industrial vehicle 1 receives a load W at a load receiving position set at any position, for example, indoors or outdoors, and travels along a preset travel route to transport the load W to an object T where the load is to be deposited. As shown in Fig. 1, the industrial vehicle 1 includes a traveling device 2, a loading device 3 disposed in front of the traveling device 2 and having forks 13, and a traveling control device 30 (see Fig. 2) that controls the traveling of the industrial vehicle 1.

[0016] The traveling device 2 has a vehicle body 4, a pair of drive wheels (front wheels 5) located at the front of the vehicle body 4, and a pair of steered wheels (rear wheels 6) located at the rear of the vehicle body 4. The vehicle body 4 is provided with a driver's cab 7 formed by a frame including a head guard. Inside the driver's cab 7, there are arranged a lift operation lever used to operate the lift cylinder 14, a tilt operation lever used to operate the tilt cylinder 15, a steering wheel for steering the industrial vehicle 1, and the like. In addition, the traveling device 2 has a traveling motor that rotates the front wheels 5, and a steering motor that steers the rear wheels 6 by rotating the steering shaft of the industrial vehicle 1. In the industrial vehicle 1, traveling by the traveling device 2 is achieved by the traveling motor rotating the front wheels 5 and the steering motor steering the rear wheels 6.

[0017] The cargo handling device 3 has a mast 11 attached to the front of the vehicle body 4, a pair of forks 13 attached to the mast 11 via lift brackets 12 and holding cargo W, a lift cylinder 14 that raises and lowers the forks 13, and a tilt cylinder 15 that tilts the mast 11. The forks 13 are attached so as to protrude forward from the lift brackets 12.

[0018] As described above, the industrial vehicle 1 travels along a predetermined travel path while supporting a load W with the forks 13, and transports the load W to the object T. Objects, including the object T and an obstacle O that may hinder the travel or placement of the load by the industrial vehicle 1, may be present on the travel path along which the industrial vehicle 1 travels. Furthermore, the distance that the industrial vehicle 1 must maintain between itself and the object differs depending on whether the object is the object T or the obstacle O. Therefore, if an object present on the travel path cannot be detected or if a detected object is not determined to be the object T or the obstacle O, the transport of the load may not be performed appropriately and safely. In response to this, the industrial vehicle 1 reliably detects objects present on the travel path described above, determines whether the detected object is the object T or the obstacle O, and then determines whether to operate the traveling device 2 or the loading device 3. The following describes in detail the functional configuration for realizing this function.

[0019] 2 is a block diagram showing an example of the configuration of the industrial vehicle 1. The industrial vehicle 1 is equipped with a three-dimensional sensor 20 and a travel control device 30 to realize the above-mentioned functions.

[0020] The three-dimensional sensor 20 will be described in detail below. The three-dimensional sensor 20 is a sensor that acquires three-dimensional information of the space below the forks 13. The three-dimensional sensor 20 detects an object that exists between the industrial vehicle 1 and the forks 13 based on the acquired three-dimensional information. The three-dimensional sensor 20 detects an object that exists between the traveling surface G (see FIG. 1) of the industrial vehicle 1 and the forks 13 based on the three-dimensional information and a reference distance that will be described later. The traveling surface G is the surface on which the industrial vehicle 1 travels. The traveling surface G is, for example, the ground if outdoors, or the floor of a building if indoors.

[0021] The three-dimensional information includes at least information indicating coordinate information of a three-dimensional point cloud in the space that is the measurement range of the three-dimensional sensor 20. The three-dimensional sensor 20 is, for example, a three-dimensional LiDAR (Light Detection And Ranging). In this embodiment, the three-dimensional sensor 20 is provided on the fork 13 so that the detection axis coincides with the operating direction of the fork 13. The three-dimensional sensor 20 detects an object present between the industrial vehicle 1 and the fork 13 based on the three-dimensional information, and outputs information indicating that the object has been detected and the three-dimensional information to a discrimination unit 32 and a calculation unit 33, which will be described later.

[0022] Next, details of the travel control device 30 will be described. The travel control device 30 determines whether an object detected by the three-dimensional sensor 20 is a target object T or an obstacle O, and determines whether or not to operate the travel device 2 or the cargo handling device 3. To realize the above-mentioned functions, the travel control device 30 has, as functional elements, an acquisition unit 31, a discrimination unit 32, a calculation unit 33, and a judgment unit 34.

[0023] The acquisition unit 31 is a part that acquires the operation mode. The operation mode is set in advance according to the type of work performed by the industrial vehicle 1. In this embodiment, the traveling device 2 and the cargo handling device 3 have operation modes that correspond to the type of work performed by the industrial vehicle 1. The acquisition unit 31 acquires the operation mode by referring to the traveling device 2 and the cargo handling device 3. The acquisition unit 31 outputs information indicating the acquired operation mode to the determination unit 34.

[0024] Specific examples of operation modes of the traveling device 2 and the cargo handling device 3 will be described below with reference to Figures 3 to 5, along with work performed by the industrial vehicle 1. Figure 3 is a diagram showing one example of an operation mode. Figure 4 is a diagram showing another example of an operation mode. Figure 5 is a diagram showing yet another example of an operation mode.

[0025] In the example shown in FIG. 3 , the work performed by the industrial vehicle 1 is depositing a load on the vehicle 100. In this embodiment, depositing a load on the vehicle 100 is set as operation mode A. The vehicle 100 is, for example, a truck. When depositing a load on the vehicle 100, the industrial vehicle 1 approaches a loading platform T1 of the vehicle 100 from behind the vehicle 100, for example, and deposits a load W supported by the forks 13 on the loading platform T1. When depositing a load on the vehicle 100, the tailgate O1 of the vehicle 100 may protrude toward the industrial vehicle 1. In such a case, if the tailgate O1 cannot be detected or an appropriate distance cannot be maintained between the industrial vehicle 1 and the tailgate O1, the industrial vehicle 1 may collide with the tailgate O1, and the transport of the load W may not be carried out properly and safely. Therefore, in operation mode A, the loading platform T1 of the vehicle 100 is set as the object T, and the tailgate O1 of the vehicle 100 is set as the obstacle O.

[0026] In the example shown in FIG. 4 , the work performed by the industrial vehicle 1 is stacking. In this embodiment, this stacking is set as operation mode B. In stacking, the industrial vehicle 1 places a load W supported by the forks 13 in a placement area T2 on a load O2 that has already been placed on the ground, for example, and stacks the load W on top of the load O2. In such a case, if the industrial vehicle 1 cannot detect the already placed load O2 or cannot maintain an appropriate distance from the load O2, there is a risk that the industrial vehicle 1 will collide with the load O2, making it impossible to transport the load W properly and safely. Therefore, in operation mode B, the placement area T2 on the load O2 is set as the target T, and the load O2 placed below the placement area T2 is set as the obstacle O.

[0027] In the example shown in FIG. 5 , the work performed by the industrial vehicle 1 is high-altitude stowage. In this embodiment, this high-altitude stowage is set as operation mode C. In high-altitude stowage, the industrial vehicle 1 places cargo W supported by the forks 13 in the internal space T3 of containers 300 stacked vertically, for example. In such high-altitude stowage, the stacked containers 300 may not be aligned in the front-to-rear direction. That is, a portion O3 of the container 300 may protrude toward the industrial vehicle 1. In such a case, if the protruding portion O3 of the container 300 cannot be detected or an appropriate distance cannot be maintained between the industrial vehicle 1 and the portion O3, the industrial vehicle 1 may collide with the portion O3, and the cargo W may not be transported properly and safely. Therefore, in operation mode C, the internal space T3 of the container 300 is set as the target T, and the portion O3 of the container 300 is set as the obstacle O.

[0028] Returning to Fig. 2, the discrimination unit 32 is a part that discriminates whether a detected object is an object T or an obstacle O. In this embodiment, the discrimination unit 32 compares the distance between the industrial vehicle 1 and the detected object with a predetermined threshold value, and then discriminates whether the object is an object T or an obstacle O.

[0029] First, a comparison between the distance between the industrial vehicle 1 and an object and a predetermined threshold will be described. The discrimination unit 32 compares the distance between the industrial vehicle 1 and a detected object with a predetermined threshold to determine whether the detected object is an object T or an obstacle O. In this embodiment, the industrial vehicle 1 is equipped with a self-position estimation sensor 40 that estimates the self-position of the industrial vehicle 1, and this self-position estimation sensor 40 calculates the distance between the industrial vehicle 1 and a detected object. The self-position estimation sensor 40 is a sensor used to estimate the self-position of the industrial vehicle 1, and calculates the distance to an object present in front of the industrial vehicle 1 by irradiating an area including the front of the industrial vehicle 1 with laser light and receiving reflected light of the laser light. The predetermined threshold is set, for example, based on the distance between the industrial vehicle 1 and a position where the object T should be present.

[0030] If the distance between the industrial vehicle 1 and the detected object is greater than a predetermined threshold, the discrimination unit 32 determines that a sufficient distance from the object is maintained and does not determine whether the object is an object T or an obstacle O. If the distance between the industrial vehicle 1 and the detected object is equal to or less than a predetermined threshold, the discrimination unit 32 determines that the distance to the object is short and an appropriate distance needs to be maintained, and determines to discriminate whether the object is an object T or an obstacle O.

[0031] When it is determined that the detected object should be determined as either an object T or an obstacle O, the discrimination unit 32 further discriminates whether the object is an object T or an obstacle O. The discrimination unit 32 discriminates whether the detected object is an object T or an obstacle O based on the three-dimensional information acquired by the three-dimensional sensor 20. In this embodiment, the shape of the detected object is identified based on coordinate information of a three-dimensional point cloud included in the three-dimensional information, and the discrimination unit 32 discriminates whether the detected object is an object T or an obstacle O based on the identified shape. In one example, if the identified shape of the object matches the shape of a pre-stored object T, the discrimination unit 32 discriminates the object as an object T, and if the identified shape of the object does not match the shape of a pre-stored object T, the discrimination unit 32 discriminates the object as an obstacle O. The discrimination unit 32 outputs the discrimination result of the detected object to the determination unit 34.

[0032] The calculation unit 33 is a part that calculates various distances. In this embodiment, the calculation unit 33 calculates the distance between the traveling surface G of the industrial vehicle 1 and the three-dimensional sensor 20, and the distance between the industrial vehicle 1 and an object. In this embodiment, the calculation of the distance between the industrial vehicle 1 and an object by the calculation unit 33 is performed with higher accuracy than the calculation of the distance between the industrial vehicle 1 and an object by the self-position estimation sensor 40.

[0033] The following will first explain how to calculate the distance between the traveling surface G of the industrial vehicle 1 and the three-dimensional sensor 20. In this embodiment, the calculation unit 33 calculates the distance between the traveling surface G and the three-dimensional sensor 20 as a reference distance based on three-dimensional information when no object exists between the traveling surface G and the three-dimensional sensor 20. The calculation unit 33 outputs the calculated reference distance to the three-dimensional sensor 20.

[0034] Next, the calculation of the distance between the industrial vehicle 1 and an object will be described. The calculation unit 33 calculates the distance between the industrial vehicle 1 and the object based on the three-dimensional information acquired by the three-dimensional sensor 20. In this embodiment, the distance between the industrial vehicle 1 and the object T and obstacle O is calculated based on coordinate information of a three-dimensional point cloud included in the three-dimensional information. In the above-mentioned operation modes A to C, the directions that define the distance between the industrial vehicle 1 and the object T and obstacle O may include both the front-rear direction and the up-down direction. The calculation unit 33 outputs the calculated distance between the industrial vehicle 1 and the object T and obstacle O to the determination unit 34.

[0035] The determination unit 34 is a part that determines whether or not the traveling device 2 or the cargo handling device 3 can operate. In this embodiment, the determination unit 34 determines whether or not the traveling device 2 or the cargo handling device 3 can operate based on the object discrimination result received from the discrimination unit 32 and the distance calculation result received from the calculation unit 33. In order to make the above-mentioned determination, the determination unit 34 has a determination table for determining whether or not the traveling device 2 or the cargo handling device 3 can operate for each operation mode. The determination unit 34 determines whether or not the traveling device 2 or the cargo handling device 3 can operate by referring to the determination table.

[0036] Fig. 6 is a diagram showing an example of a judgment table. In the example shown in Fig. 6, the type of object T, the type of obstacle O, the limit distance X for the object T, and the limit distance Y for the obstacle O are defined corresponding to operation modes A to C. The limit distance X indicates the minimum distance that the industrial vehicle 1 must maintain from the object T, and the limit distance Y indicates the minimum distance that the industrial vehicle 1 must maintain from the obstacle O. In this embodiment, the limit distances X and Y are defined as distances in the front-to-rear direction.

[0037] As shown in Figure 6, in operation mode A, a limit distance X1 is set as the minimum distance that the industrial vehicle 1 must maintain from the object T, which is the loading platform T1, and a limit distance Y1 is set as the minimum distance that the industrial vehicle 1 must maintain from the obstacle O, which is the tailgate O1.

[0038] In operation mode B, a limit distance X2 is set as the minimum distance that the industrial vehicle 1 must maintain from the loading area T2, which is the object T, and a limit distance Y2 is set as the minimum distance that the industrial vehicle 1 must maintain from the cargo O2, which is the obstacle O, placed below the loading area T2.

[0039] In operation mode C, a limit distance X3 is set as the minimum distance that the industrial vehicle 1 must maintain from the internal space T3, which is the object T, and a limit distance Y3 is set as the minimum distance that the industrial vehicle 1 must maintain from the part O3 of the container 300, which is the obstacle O.

[0040] The following describes the determination of whether the traveling device 2 is operable. First, the determination unit 34 refers to a determination table and acquires a corresponding limit distance based on the information indicating the operation mode received from the acquisition unit 31 and the object discrimination result received from the discrimination unit 32. For example, when the determination unit 34 receives information indicating the operation mode A from the acquisition unit 31 and the discrimination result from the discrimination unit 32 indicating that the object is the target object T (cargo platform T1), the determination unit 34 acquires limit distance X1 as the corresponding limit distance. Alternatively, when the determination unit 34 receives information indicating the operation mode A from the acquisition unit 31 and the discrimination result from the discrimination unit 32 indicating that the object is an obstacle O (side barrier O1), the determination unit 34 acquires limit distance Y1 as the corresponding limit distance.

[0041] Next, the determination unit 34 compares the distance calculation result received from the calculation unit 33 with the limit distance acquired from the determination table, and determines whether or not the traveling device 2 is operable.

[0042] First, the comparison between the object T and the limit distance X will be described. The determination unit 34 compares the distance to the object T with the limit distance X, and if the distance to the object T is equal to or greater than the limit distance X, it determines that the distance between the industrial vehicle 1 and the object T is far enough and that the traveling device 2 can operate. In this case, the determination unit 34 outputs information indicating that operation is possible to the traveling device 2. The traveling device 2, which has received the information indicating that operation is possible from the determination unit 34, causes the industrial vehicle 1 to travel. In other words, if the distance to the object T is equal to or greater than the limit distance X, the industrial vehicle 1 travels.

[0043] The judgment unit 34 compares the distance to the object T with the limit distance X, and if the distance to the object T is shorter than the limit distance X, it determines that there is a possibility of a collision between the industrial vehicle 1 and the object T and that the traveling device 2 cannot operate. In this case, the judgment unit 34 outputs information indicating that operation is impossible to the traveling device 2. The traveling device 2, which has received the information indicating that operation is impossible from the judgment unit 34, stops the industrial vehicle 1. In other words, if the distance to the object T is shorter than the limit distance X, the industrial vehicle 1 stops traveling.

[0044] Next, a comparison between the obstacle O and the limit distance Y will be described. The determination unit 34 compares the distance to the obstacle O with the limit distance Y, and if the distance to the obstacle O is equal to or greater than the limit distance Y, it determines that the distance between the industrial vehicle 1 and the obstacle O is large enough that the traveling device 2 can operate. In this case, the determination unit 34 continues to calculate the distance to the object while operating the traveling device 2.

[0045] The judgment unit 34 compares the distance to the obstacle O with the limit distance Y, and if the distance to the obstacle O is shorter than the limit distance Y, it determines that there is a possibility of a collision between the industrial vehicle 1 and the obstacle O and that the traveling device 2 cannot operate. In this case, the judgment unit 34 outputs information indicating that operation is impossible to the traveling device 2. The traveling device 2, which has received the information indicating that operation is impossible from the judgment unit 34, stops the industrial vehicle 1. In other words, if the distance to the obstacle O is shorter than the limit distance Y, the industrial vehicle 1 stops traveling.

[0046] Next, the determination unit 34 determines whether or not the cargo handling apparatus 3 can operate. In one example, whether or not the cargo handling apparatus 3 can operate is determined based on whether or not the industrial vehicle 1 has moved to a position where work can be performed on the object T. In this case, the determination unit 34 compares the calculation result of the distance to the object T with the limit distance X again to determine whether or not the cargo handling apparatus 3 can operate.

[0047] The determination unit 34 compares the distance to the object T with the limit distance X, and if the distance to the object T matches the limit distance X, it determines that the object T has moved to a position where work can be performed on the object T, and that work can be performed, i.e., that the cargo handling apparatus 3 can operate. In this case, the determination unit 34 outputs information to the cargo handling apparatus 3 indicating that work is possible, and the cargo handling apparatus 3 performs the work corresponding to the operation mode.

[0048] The determination unit 34 compares the distance to the object T with the limit distance X, and if the distance to the object T does not match the limit distance X, it determines that the object T has not reached a position where work can be performed on the object T, and that work cannot be performed, i.e., the loading and unloading device 3 cannot operate. In this case, the determination unit 34 sends information indicating continuation of travel to the traveling device 2, causing the industrial vehicle 1 to continue traveling.

[0049] An example of the operation of the industrial vehicle 1 will be described with reference to Fig. 7. Fig. 7 is a flowchart showing an example of the operation of the industrial vehicle 1.

[0050] In step S1, the acquisition unit 31 acquires the operation mode. Here, the acquisition unit 31 acquires the operation mode by referring to the traveling device 2 and the loading device 3. In step S2, the calculation unit 33 calculates the reference distance. Here, the calculation unit 33 calculates the distance between the traveling surface G of the industrial vehicle 1 and the three-dimensional sensor 20 as the reference distance based on the three-dimensional information when no object is present between the traveling surface G of the industrial vehicle 1 and the three-dimensional sensor 20.

[0051] In step S3, three-dimensional sensor 20 detects an object. Here, three-dimensional sensor 20 detects an object that exists between traveling surface G and three-dimensional sensor 20 based on the three-dimensional information and the reference distance. If an object is detected (YES in step S4), the process proceeds to step S5. If an object is not detected (NO in step S4), the process returns to step S3.

[0052] In step S5, the self-position estimation sensor 40 calculates the distance between the industrial vehicle 1 and the object detected in step S3. In step S6, the discrimination unit 32 compares whether the distance calculated in step S5 is greater than a predetermined threshold. Here, the discrimination unit 32 compares the distance calculated in step S5 with the predetermined threshold to determine whether the object detected in step S3 is an object T or an obstacle O.

[0053] If the distance calculated in step S5 is equal to or less than the predetermined threshold (YES in step S6), it is determined that the distance to the object is close and an appropriate distance needs to be maintained, and the discrimination unit 32 determines to determine whether the object is an object T or an obstacle O. In this case, the process proceeds to step S7. If the distance calculated in step S5 is greater than the predetermined threshold (NO in step S6), it is determined that a sufficient distance to the object is maintained, and the discrimination unit 32 determines not to determine whether the object is an object T or an obstacle O. In this case, the process returns to step S5.

[0054] In step S7, the discrimination unit 32 discriminates whether the object detected in step S3 is an object T or an obstacle O. Here, the discrimination unit 32 first identifies the shape of the detected object based on the coordinate information of the three-dimensional point cloud included in the three-dimensional information. Next, the discrimination unit 32 discriminates whether the detected object is an object T or an obstacle O based on the identified shape. If the identified shape of the object matches the shape of the object T stored in advance, the discrimination unit 32 discriminates the object as an object T, and if the identified shape of the object does not match the shape of the object T stored in advance, the discrimination unit 32 discriminates the object as an obstacle O.

[0055] If the object detected in step S3 is determined to be the target object T (YES in step S7), the process proceeds to step S8. If the object detected in step S3 is determined to be the obstacle O (NO in step S7), the process proceeds to step S13.

[0056] In step S8, the calculation unit 33 calculates the distance between the industrial vehicle 1 and the object T. Here, the calculation unit 33 calculates the distance between the industrial vehicle 1 and the object T based on the coordinate information of the three-dimensional point cloud included in the three-dimensional information acquired by the three-dimensional sensor 20.

[0057] In step S9, the judgment unit 34 compares the distance between the industrial vehicle 1 and the object T calculated in step S8 with the limit distance X. First, the judgment unit 34 references a judgment table to obtain the limit distance X. Next, the judgment unit 34 compares the distance between the industrial vehicle 1 and the object T calculated in step S8 with the limit distance X to judge whether or not the traveling device 2 is operable.

[0058] If the distance between the industrial vehicle 1 and the object T calculated in step S8 is equal to or greater than the limit distance X (YES in step S9), the determination unit 34 determines that the distance between the industrial vehicle 1 and the object T is large enough that the traveling device 2 can operate. In this case, the determination unit 34 outputs information indicating that operation is possible to the traveling device 2, and the process proceeds to step S10. If the distance between the industrial vehicle 1 and the object T calculated in step S8 is smaller than the limit distance X (NO in step S9), the determination unit 34 determines that the industrial vehicle 1 and the object T may collide, and the determination unit 34 determines that operation of the traveling device 2 is impossible. In this case, the determination unit 34 outputs information indicating that operation is impossible to the traveling device 2, and the process proceeds to step S15.

[0059] In step S10, the traveling device 2 travels the industrial vehicle 1. In step S11, the judgment unit 34 judges whether the work can be performed. Here, the judgment unit 34 compares the calculation result of the distance between the industrial vehicle 1 and the object T calculated in step S8 with the limit distance X again, and judges whether the work can be performed.

[0060] If the distance between the industrial vehicle 1 and the object T calculated in step S8 matches the limit distance X (YES in step S11), the determination unit 34 determines that the industrial vehicle 1 has moved to a position where work on the object T is possible, and determines that work can be performed, and the process proceeds to step S12. If the distance between the industrial vehicle 1 and the object T calculated in step S8 does not match the limit distance X (NO in step S11), the determination unit 34 determines that the industrial vehicle 1 has not reached a position where work on the object T is possible, and determines that work cannot be performed. In this case, the process returns to step S10.

[0061] In step S12, the cargo handling device 3 performs the work. Here, the cargo handling device 3 performs the work corresponding to the operation mode.

[0062] In step S13, the calculation unit 33 calculates the distance between the industrial vehicle 1 and the obstacle O. Here, the calculation unit 33 calculates the distance between the industrial vehicle 1 and the obstacle O based on the coordinate information of the three-dimensional point cloud included in the three-dimensional information acquired by the three-dimensional sensor 20.

[0063] In step S14, the judgment unit 34 compares the distance between the industrial vehicle 1 and the obstacle O calculated in step S13 with the limit distance Y. Here, the judgment unit 34 first refers to a judgment table to obtain the limit distance Y. Next, the judgment unit 34 compares the distance between the industrial vehicle 1 and the obstacle O calculated in step S13 with the limit distance Y to judge whether or not the traveling device 2 is operable.

[0064] If the distance between the industrial vehicle 1 and the obstacle O calculated in step S13 is equal to or greater than the limit distance Y (YES in step S14), the determination unit 34 determines that the distance between the industrial vehicle 1 and the obstacle O is large enough that the traveling device 2 can operate. In this case, the process returns to step S5. If the distance between the industrial vehicle 1 and the obstacle O calculated in step S13 is smaller than the limit distance Y (NO in step S14), the determination unit 34 determines that the industrial vehicle 1 and the obstacle O may collide, and therefore determines that the traveling device 2 cannot operate. In this case, the process proceeds to step S15. In step S15, the traveling device 2 stops the industrial vehicle 1.

[0065] As described above, in the industrial vehicle 1, the forks 13 are provided with the three-dimensional sensor 20 that acquires three-dimensional information about the space below the forks 13. Because the three-dimensional information is acquired about the space below the forks 13, the distance to an object present on the travel path can be detected separately from the longitudinal distance between the industrial vehicle 1 and the industrial vehicle 1. Based on the three-dimensional information, the industrial vehicle 1 determines whether the detected object is an object T or an obstacle O. Then, based on the object identification result and the distance calculation result using the three-dimensional information, it is determined whether the traveling device 2 or the loading device 3 can be operated. Therefore, the industrial vehicle 1 can ensure an appropriate distance from the object depending on the type of detected object, allowing for appropriate and safe transport of loads.

[0066] In the industrial vehicle 1, the traveling device 2 and the cargo handling device 3 have multiple operation modes according to the type of work. The judgment unit 34 has a judgment table for determining whether the traveling device 2 or the cargo handling device 3 can operate for each operation mode. In this case, an appropriate distance can be secured between the industrial vehicle 1 and the object according to each operation mode. Therefore, the transport of cargo can be carried out more appropriately and safely.

[0067] In the industrial vehicle 1, the calculation unit 33 calculates the distance between the traveling surface G and the three-dimensional sensor 20 as the reference distance based on the three-dimensional information when no object exists between the traveling surface G and the three-dimensional sensor 20. In this case, the accuracy of distinguishing the type of object based on the three-dimensional information and the accuracy of calculating the distance to the object can be improved.

[0068] The industrial vehicle 1 is equipped with a self-position estimation sensor 40 that estimates the self-position of the vehicle. Furthermore, in the industrial vehicle 1, the determination unit 34 determines whether the traveling device 2 or the cargo handling device 3 can operate when the distance between the vehicle and an object acquired by the self-position estimation sensor 40 is equal to or less than a predetermined threshold. In this case, when the distance between the vehicle and the object is greater than the predetermined threshold, that is, when the vehicle and the object are sufficiently far apart, the determination of whether the traveling device 2 or the cargo handling device 3 can operate is omitted. Therefore, the processing load on the determination unit 34 can be reduced.

[0069] In the industrial vehicle 1, the detection axis of the three-dimensional sensor 20 coincides with the operating direction of the fork 13. In this case, corrections that take into account the inclination of the detection axis are not required when determining the type of object and calculating the distance to the object, which simplifies processing.

[0070] Although the embodiments of the present disclosure have been described above, the present disclosure is not necessarily limited to the above-described embodiments, and various modifications are possible without departing from the spirit of the present disclosure.

[0071] The discrimination unit 32 may acquire the coordinates of the position where the target object T should be and the coordinates of the detected object from the three-dimensional sensor 20 and the self-position estimation sensor 40, and determine whether or not the traveling device 2 or the loading device 3 can operate if the two acquired coordinates match. Alternatively, if the two acquired coordinates do not match, the object may be determined to be an obstacle O. In this configuration, an object having coordinates that do not match the coordinates of the target object is determined to be an obstacle O without identifying the shape of the object. Therefore, this configuration can reduce the processing load on the discrimination unit 34.

[0072] The gist of this disclosure is as follows [1] to [5]. [1] An industrial vehicle comprising: a traveling device; a loading device having forks capable of loading cargo; and a traveling control device that controls traveling, wherein the forks are provided with three-dimensional sensors that acquire three-dimensional information of the space below the forks; the traveling control device having a discrimination unit that determines, based on the three-dimensional information, whether an object present between the traveling surface of the vehicle and the three-dimensional sensor is an object on which the cargo supported by the forks should be placed or an obstacle; a calculation unit that calculates the distance between the vehicle and the object based on the three-dimensional information; and a judgment unit that determines whether the traveling device or the loading device can operate based on the determination result of the object by the discrimination unit and the calculation result of the distance by the calculation unit. [2] The traveling device and the loading device have multiple operating modes according to the type of work, and the judgment unit has a judgment table for determining whether the traveling device or the loading device can operate for each operating mode. [1] An industrial vehicle as described in [1]. [3] The industrial vehicle described in [1] or [2], wherein the calculation unit calculates the distance between the driving surface and the three-dimensional sensor as a reference distance based on three-dimensional information when no object is present between the driving surface and the three-dimensional sensor. [4] An industrial vehicle described in any one of [1] to [3], further comprising a self-position estimation sensor that estimates the self-position of the vehicle, and the judgment unit determines whether or not the traveling device or the loading device can operate when the distance between the vehicle and the object obtained by the self-position estimation sensor is less than a predetermined threshold. [5] The industrial vehicle according to any one of [1] to [4], wherein the detection axis of the three-dimensional sensor coincides with the operating direction of the fork. [Explanation of symbols]

[0073] 1...industrial vehicle, 2...traveling device, 3...loading device, 13...fork, 20...three-dimensional sensor, 30...traveling control device, 32...discrimination unit, 33...calculation unit, 34...judgment unit, 40...self-position estimation sensor, A, B, C...operation mode, G...traveling surface, O...obstacle, W...baggage, T...target object

Claims

1. Running gear and a loading device having forks capable of loading cargo; a travel control device that controls travel, The fork is provided with a three-dimensional sensor that acquires three-dimensional information about the space below the fork, The driving control device includes: a discrimination unit that discriminates, based on the three-dimensional information, whether an object present between the traveling surface of the vehicle and the three-dimensional sensor is an object on which a load supported by the forks should be placed or an obstacle; a calculation unit that calculates a distance between the host vehicle and the object based on the three-dimensional information; and a judgment unit that judges whether or not the traveling device or the loading device can operate based on the result of the object discrimination by the discrimination unit and the result of the distance calculation by the calculation unit.

2. The traveling device and the cargo handling device have a plurality of operation modes according to the type of work, 2. The industrial vehicle according to claim 1, wherein the determination unit has a determination table for determining whether or not the traveling device or the loading device is operable for each of the operation modes.

3. 2. The industrial vehicle according to claim 1, wherein the calculation unit calculates the distance between the traveling surface and the three-dimensional sensor as the reference distance based on three-dimensional information when no object is present between the traveling surface and the three-dimensional sensor.

4. a self-position estimation sensor for estimating a self-position of the vehicle; 2. The industrial vehicle according to claim 1, wherein the determination unit determines whether or not the traveling device or the loading device can operate when the distance between the vehicle and the object acquired by the self-position estimation sensor is equal to or less than a predetermined threshold.

5. 5. The industrial vehicle according to claim 1, wherein the detection axis of the three-dimensional sensor coincides with the direction in which the forks are moved.

Images