Pallet detector

Abstract

To provide a pallet detection device capable of detecting a front surface of a pallet even if a space on the front side of the pallet is narrow.SOLUTION: A pallet detection device 20 comprises a mounting member 23 having a pair of right and left pillar sections 26 erected on both right and left sides of the upper part of a frame 13 forming a driver's seat 12 in a vehicle body 2, a camera that is attached to the pillar section 26 and images a front surface 21a of a pallet 21 in the lateral direction of a reach-type forklift 1, a laser sensor attached to the pillar section 26, which detects a distance to the front surface 21a of the pallet 21 by emitting a laser in the lateral direction of the reach-type forklift 1 toward the front surface 21a of the pallet 21 and receiving the reflected light of the laser, and a detection processing unit that detects the front surface 21a of the pallet 21 based on camera image data and laser sensor detection data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a pallet detection device. [Background technology]

[0002] For example, Patent Document 1 describes a technology in which a sensor in an object detection unit recognizes a pallet located in front of a reach forklift, and the reach forklift automatically drives to a loading position. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2022-34408 Summary of the Invention [Problem to be solved by the invention]

[0004] When holding a pallet with forks, if there is a lot of space in front of the pallet, the sensor unit can detect the front of the pallet located in front of the reach forklift, as in the above-mentioned conventional technology, and the reach forklift can move forward to the front of the pallet, which is the loading position. However, if the space in front of the pallet is narrow, it may not be possible to detect the front of the pallet.

[0005] An object of the present invention is to provide a pallet detection device that can detect the front surface of a pallet even if the space on the front side of the pallet is narrow. [Means for solving the problem]

[0006] (1) One aspect of the present invention is a pallet detection device that is mounted on a reach forklift truck having a pair of left and right forks that are attached so that they can be raised and lowered to a mast that can move in the fore-and-aft direction of the vehicle body, and that detects pallets that are located to the side of the reach forklift. The device comprises a mounting member having a pair of left and right pillars that are erected on both the left and right sides of the upper part of the frame that forms the driver's seat in the vehicle body, a camera attached to the pillars that captures images of the front of the pallet in the lateral direction of the reach forklift, a laser sensor attached to the pillars that detects the distance to the front of the pallet by emitting a laser in the lateral direction of the reach forklift toward the front of the pallet and receiving the reflected laser light, and a detection unit that detects the front of the pallet based on image data from the camera and detection data from the laser sensor.

[0007] In this type of pallet detection device, the front of the pallet is detected based on image data from the camera and detection data from the laser sensor. With the reach forklift positioned relative to the pallet so that the longitudinal direction of the reach forklift intersects with the longitudinal direction of the pallet, the camera captures an image of the front of the pallet laterally of the reach forklift, and the laser sensor irradiates a laser beam laterally toward the front of the pallet. Therefore, even if there is limited space in front of the pallet, the front of the pallet can be detected. Furthermore, by erecting pillars of the mounting member on both the left and right sides of the upper part of the frame that forms the driver's seat in the vehicle body and attaching the camera and laser sensor to these pillars, the camera and laser sensor can be easily mounted on the reach forklift.

[0008] (2) In the above (1), the mounting member may further include a reinforcing portion extending in the left-right direction of the vehicle body and connecting the pair of left and right pillars. This configuration increases the rigidity of each pillar, ensuring the strength necessary for mounting the camera and laser sensor. Therefore, the camera and laser sensor can be stably mounted on the reach forklift.

[0009] (3) In the above (1) or (2), a transparent member may be disposed between the pair of left and right columns. In this configuration, the transparent member contributes to protecting the operator when manually operating the reach forklift. In addition, the transparent member can display information necessary for driving the reach forklift, loading and unloading, etc.

[0010] (4) In any of the above (1) to (3), the pillar may be erected on the upper part of the frame, forward of the driver's seat and outboard of the mast in the left-right direction. This configuration reduces the impact on the operator's operation and forward visibility when manually operating the reach forklift.

[0011] (5) In any of the above (1) to (4), the camera and the laser sensor may be attached to the pillar via a mounting bracket so as to be arranged side by side in the vertical direction, the mounting bracket having a first mounting portion on which the camera is placed and a second mounting portion arranged in a stepped manner relative to the first mounting portion and on which the laser sensor is placed, and the pillar may be provided with a first exposed portion that exposes the front surface of the camera and a second exposed portion that exposes the front surface of the laser sensor. In this configuration, the camera and the laser sensor are attached to the pillar via the mounting bracket, making it possible to more easily and stably mount the camera and the laser sensor on a reach forklift. In addition, by providing the pillar with the first exposed portion that exposes the front surface of the camera and the second exposed portion that exposes the front surface of the laser sensor, the front surfaces of the camera and the laser sensor can be protected. [Effects of the Invention]

[0012] According to the present invention, even if the space on the front side of the pallet is narrow, the front side of the pallet can be detected. [Brief explanation of the drawings]

[0013] [Figure 1]1 is a side view showing a reach forklift equipped with a pallet detection device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a rear view of the reach forklift shown in FIG. 1. [Figure 3] FIG. 3 is a perspective view showing a state in which a part of a pallet detection device is mounted on the reach forklift shown in FIGS. 1 and 2. [Figure 4] FIG. 4 is a perspective view showing the appearance of a part of the pallet detection device shown in FIG. 3. [Figure 5] FIG. 4 is a cross-sectional view showing a part of the pallet detection device shown in FIG. 3. [Figure 6] 1 is a block diagram showing the configuration of a travel control device equipped with a pallet detection device according to an embodiment of the present invention. [Figure 7] 7 is a flowchart showing the procedure of a pallet detection process executed by the detection processing unit shown in FIG. 6. [Figure 8] FIG. 7 is a plan view schematically illustrating the operation of the driving control device shown in FIG. 6. [Figure 9] FIG. 1 is a plan view showing a schematic view of the environment around a truck on which a pallet is placed. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or equivalent elements are designated by the same reference numerals, and redundant description will be omitted.

[0015] Fig. 1 is a side view of a reach forklift equipped with a pallet detection device according to one embodiment of the present invention, and Fig. 2 is a rear view of the reach forklift shown in Fig. 1.

[0016] 1 and 2, a reach forklift 1 comprises a body 2, a pair of left and right reach legs 3 extending from the bottom of the body 2 to the front of the body 2, a mast 4 disposed between the reach legs 3 and movable in the fore-and-aft direction of the body 2 along the reach legs 3, and a pair of left and right forks 6 attached to the mast 4 via lift brackets 5 so as to be able to rise and fall and which hold a pallet 21.

[0017] The mast 4 is moved in the front-rear direction of the vehicle body 2 by a reach cylinder (not shown). Therefore, the forks 6 are moved (advance and retreat) in the front-rear direction of the vehicle body 2 by the reach cylinder. In addition, the forks 6 are raised and lowered by a lift cylinder 7.

[0018] A front wheel 8 is disposed at the tip (front end) of each reach leg 3. A rear wheel 9, which is a drive wheel, is disposed at the rear left side of the body 2. The rear wheel 9 is driven to rotate by a travel motor 10. A caster wheel 11 is disposed at the rear right side of the body 2.

[0019] The vehicle body 2 is provided with a frame 13 that forms a driver's seat 12 where an operator operates the vehicle. The frame 13 is composed of a front panel 13a, a rear panel 13b, and a pair of left and right side panels 13c. An entrance 14 for the operator to enter the driver's seat 12 is provided on the right side of the rear panel 13b. The left side area of ​​the frame 13 houses the travel motor 10 and other components.

[0020] An operation panel 15 is disposed in the driver's seat 12. Although not shown, the operation panel 15 is provided with an operation lever and a handle for operating the travel and turning operations of the reach forklift 1, and an operation lever for operating the forward / backward movement and the raising / lowering operation of the forks 6.

[0021] A head guard 16 is disposed above the driver's seat 12. The head guard 16 is connected to the upper ends of pillars 17 and 18 attached to the frame 13. The pillar 17 is attached to the upper end near the center of the side panel 13c disposed on the left side of the frame 13. The pillar 18 is attached to the upper end of the rear part of the side panel 13c disposed on the right side of the frame 13.

[0022] The reach forklift 1 is also equipped with a pallet detection device 20 of this embodiment. The pallet detection device 20 is a device that detects a pallet 21 (see FIG. 8) present to the side of the reach forklift 1.

[0023] The pallet 21 is a loading platform on which cargo (not shown) is placed. The pallet 21 is, for example, a flat pallet. The pallet 21 has a rectangular shape in a plan view. The pallet 21 is provided with a pair of fork holes 22 into which the forks 6 of the reach forklift 1 are inserted.

[0024] As also shown in FIGS. 3 to 5, the pallet detection device 20 includes a mounting member 23 fixed to the frame 13, and a camera 24 and a laser sensor 25 attached to the mounting member 23.

[0025] The mounting member 23 has a pair of left and right pillars 26 erected on both the left and right sides of the upper part of the frame 13, and a reinforcing portion 27 extending in the left-right direction (vehicle width direction) of the vehicle body 2 and connecting the tips (upper ends) of the pair of left and right pillars 26. Each pillar 26 and reinforcing portion 27 is integrally formed by bending a single metal plate made of, for example, iron or aluminum. Note that each pillar 26 and reinforcing portion 27 may also be formed by bolting or welding three metal plates together.

[0026] The pillar portion 26 is erected on the upper part of the frame 13, forward of the driver's seat 12. Specifically, the pillar portion 26 is disposed forward of the pillar portion 17. The pillar portion 26 is also erected on the upper part of the frame 13, outward in the vehicle width direction of the mast 4 (see FIG. 2). Specifically, the pillar portion 26 is fixed to the upper end of the side panel 13c of the frame 13 by bolting.

[0027] The camera 24 captures an image of the front surface 21a of the pallet 21 to obtain image data. The front surface 21a of the pallet 21 is the surface facing the reach forklift 1 (see FIG. 8). The camera 24 captures an image of the front surface 21a of the pallet 21 in the lateral direction of the reach forklift 1. For example, a monocular camera or the like is used as the camera 24. The front surface 24a of the camera 24 forms an imaging surface for capturing images.

[0028] The laser sensor 25 emits a laser beam laterally of the reach forklift 1 toward the front surface 21a of the pallet 21 and receives the reflected laser light to detect the distance to the front surface 21a of the pallet 21 and acquire point cloud data (detection data). The point cloud is a collection of laser reflection points. For example, a 2D or 3D LIDAR (light detection and ranging) or a laser range finder is used as the laser sensor 25. The front surface 25a of the laser sensor 25 forms an irradiation / receiving surface that emits a laser beam and receives the reflected laser light.

[0029] As shown in Fig. 5, the camera 24 and the laser sensor 25 are disposed inward in the vehicle width direction from the pillar portion 26 of the mounting member 23. The camera 24 and the laser sensor 25 are attached to the pillar portion 26 via a mounting bracket 30. The camera 24 and the laser sensor 25 are attached to the pillar portion 26 so as to be arranged side by side in the vertical direction. The camera 24 is attached to the upper part of the pillar portion 26. The laser sensor 25 is attached to the pillar portion 26 below the camera 24.

[0030] The mounting bracket 30 has a mounting portion 31 (first mounting portion) on which the camera 24 is placed, a mounting portion 32 (second mounting portion) on which the laser sensor 25 is placed, a connecting portion 33 that connects the mounting portions 31 and 32 together, and two fixing portions 34 that fix the mounting portions 31 and 32 and the connecting portion 33 to the column portion 26. The mounting portions 31 and 32, the connecting portion 33, and the fixing portions 34 are made of, for example, the same metal plate as the mounting member 23.

[0031] The placing portion 32 is arranged in a stepped manner relative to the placing portion 31. The placing portion 32 is arranged below the placing portion 31. The placing portions 31, 32 and the connecting portion 33 are fastened together, for example, with bolts. The placing portions 31, 32 and the fixing portion 34 are fastened together, for example, with bolts. The fixing portion 34 and the column portion 26 are fastened together, for example, with bolts.

[0032] The camera 24 is placed on the placement section 31 so that the front surface 24a faces directly to the side of the reach forklift 1. Therefore, the camera 24 captures an image of the front surface 21a of the pallet 21 directly to the side of the reach forklift 1.

[0033] The laser sensor 25 is placed on the placement section 32 so that the front surface 25a faces directly to the side of the reach forklift 1. Therefore, the laser sensor 25 irradiates a laser beam directly to the side of the reach forklift 1 toward the front surface 21a of the pallet 21.

[0034] A circular exposed portion 35 (first exposed portion) that exposes the front surface 24a of the camera 24 is provided at the height position on the pillar portion 26 where the camera 24 is disposed. The exposed portion 35 has a structure in which a circular opening 26a is machined in the pillar portion 26 and a circular transparent plate 36 is fitted into the opening 26a. The transparent plate 36 is made of, for example, a transparent resin. The transparent plate 36 protects the front surface 24a of the camera 24.

[0035] Furthermore, a rectangular exposed portion 37 (second exposed portion) that exposes the front surface 25a of the laser sensor 25 is provided at the height position on the pillar portion 26 where the laser sensor 25 is disposed. The exposed portion 37 is disposed below the exposed portion 35 on the pillar portion 26. The exposed portion 37 has a structure in which a rectangular opening 26b is formed in the pillar portion 26 and a rectangular transparent plate 38 is fitted into the opening 26b. The transparent plate 38 is made of the same transparent material as the transparent plate 36. The transparent plate 38 protects the front surface 25a of the laser sensor 25.

[0036] The camera 24 and the laser sensor 25 are disposed at a height position that allows them to accurately detect, for example, a pallet 21 (see FIG. 8) placed on the loading platform 60a of the truck 60.

[0037] Furthermore, in the exposed portion 35, the transparent plate 36 does not have to be fitted into the opening 26a. In the exposed portion 37, the transparent plate 38 does not have to be fitted into the opening 26b. Furthermore, the shape of the exposed portion 35 does not have to be particularly circular, as long as it can expose the front surface 24a of the camera 24. The shape of the exposed portion 37 does not have to be particularly rectangular, as long as it can expose the front surface 25a of the laser sensor 25.

[0038] Additionally, a resin cover 40 with a U-shaped cross section is attached to each pillar 26, covering the camera 24, laser sensor 25, and mounting bracket 30. The resin cover 40 extends from the upper end of the frame 13 to the reinforcing part 27. This prevents the camera 24 and laser sensor 25 from being exposed, thereby protecting the camera 24 and laser sensor 25.

[0039] A transparent member 41 is disposed between the pair of left and right pillars 26. For example, an acrylic plate or the like is used as the transparent member 41. The transparent member 41 contacts each resin cover 40, the reinforcing portion 27, and the operation panel 15.

[0040] Fig. 6 is a block diagram showing the configuration of a travel control device equipped with a pallet detection device according to one embodiment of the present invention. In Fig. 6, the travel control device 50 is a device that controls the reach forklift 1 so that it automatically travels from a state in which the reach forklift 1 is positioned on the front surface 21a side of the pallet 21 (see Fig. 8) toward a target position relative to the pallet 21.

[0041] The travel control device 50 is mounted on the reach forklift 1. The travel control device 50 includes the camera 24, the laser sensor 25, a controller 51, and the travel motor 10.

[0042] The controller 51 is configured with a CPU, RAM, ROM, an input / output interface, etc. The controller 51 has a detection position determination unit 52, a stop control unit 53, a detection processing unit 54, a position and orientation calculation unit 55, a path generation unit 56, and a travel control unit 57.

[0043] The detection position determination unit 52 determines whether the reach forklift 1 has reached the detection position based on image data from the camera 24 when the reach forklift 1 is traveling in a direction perpendicular to the front-to-rear direction of the pallet 21. The detection position is a position where the front surface 21a of the pallet 21 can be detected using the camera 24 and the laser sensor 25. Specifically, the detection position is a position where the camera 24 and the laser sensor 25 face the front surface 21a of the pallet 21 (see FIG. 8(a)).

[0044] The stop control unit 53 controls the traveling motor 10 to stop the traveling of the reach forklift 1 when the detection position determination unit 52 determines that the reach forklift 1 has reached the detection position.

[0045] The detection processing unit 54 performs processing to detect the front surface 21a of the pallet 21 in the lateral direction of the reach forklift 1, based on the image data from the camera 24 and the point cloud data from the laser sensor 25, with the reach forklift 1 positioned relative to the pallet 21 so that the front-to-back direction of the reach forklift 1 perpendicularly intersects with the front-to-back direction of the pallet 21. The lateral direction of the reach forklift 1 is the direction that intersects with the front-to-back direction of the reach forklift 1 in a horizontal plane.

[0046] The detection processing unit 54 is a detection unit that detects the front surface 21a of the pallet 21 based on image data from the camera 24 and point cloud data (detection data) from the laser sensor 25. The detection processing unit 54 constitutes a part of the pallet detection device 20.

[0047] Fig. 7 is a flowchart showing the procedure of the pallet detection process executed by the detection processing unit 54. In Fig. 7, the detection processing unit 54 first acquires point cloud data of the laser sensor 25 (step S101).

[0048] The detection processing unit 54 also acquires image data from the camera 24 (step S102). The detection processing unit 54 then recognizes the pallet 21 based on the image data acquired in step S102 (step S103). At this time, the detection processing unit 54 recognizes the pallet 21 by, for example, an image processing technique using deep learning.

[0049] Then, the detection processing unit 54 extracts point cloud data corresponding to the pallet 21 recognized in step S103 from the point cloud data acquired in step S101 (step S104). This detects the front surface 21a of the pallet 21. Next, the detection processing unit 54 performs a filtering process on the point cloud data extracted in step S104 (step S105).

[0050] Returning to FIG. 6, the position and orientation calculation unit 55 calculates the position and orientation of the pallet 21 relative to the reach forklift 1 based on the front surface 21a of the pallet 21 detected by the detection processing unit .

[0051] The position of the pallet 21 relative to the reach forklift 1 is, for example, the three-dimensional position coordinates of the center of the front surface 21a of the pallet 21 relative to the reach forklift 1. The attitude of the pallet 21 relative to the reach forklift 1 is, for example, the yaw angle, pitch angle, and roll angle of the pallet 21 relative to the reach forklift 1.

[0052] The path generation unit 56 generates a travel path to a target position for the pallet 21 based on the position and orientation of the pallet 21 relative to the reach forklift 1 calculated by the position and orientation calculation unit 55. The target position is a position where the forks 6 of the reach forklift 1 can be moved forward and inserted into the fork holes 22 of the pallet 21.

[0053] The path generating unit 56 generates a travel path along which the reach forklift 1 turns toward the target position. Specifically, the path generating unit 56 generates a travel path R along which the reach forklift 1 moves backward in a straight line for a predetermined distance, then moves forward toward the target position and turns (see FIG. 8(b)). The predetermined distance is a distance that allows the reach forklift 1 to turn. In this case, the travel path R is generated using, for example, a clothoid curve or the like.

[0054] The travel control unit 57 controls the travel motor 10 so that the reach forklift 1 travels along the travel route generated by the route generation unit 56.

[0055] As described above, as shown in Figure 8, the pallet 21 is placed on the loading platform 60a of the truck 60. The pallet 21 is positioned so that the front surface 21a faces the right side of the truck 60. In this state, when the forks 6 of the reach forklift 1 are used to hold the pallet 21, i.e., to pick up the load, the reach forklift 1 automatically moves backward in a straight line along the front-to-rear direction of the truck 60 on the right side of the truck 60.

[0056] Then, as shown in Figure 8(a), when the reach forklift 1 reaches the detection position, the reach forklift 1 stops temporarily. In this state, the camera 24 captures an image of the front surface 21a of the pallet 21 to obtain image data, and the laser sensor 25 irradiates the front surface 21a of the pallet 21 with a laser to obtain point cloud data. The imaging range of the camera 24 and the laser irradiation range of the laser sensor 25 correspond to the detection range S of the front surface 21a of the pallet 21. Note that the camera 24 and the laser sensor 25 are omitted from Figure 8 for convenience.

[0057] Then, the front surface 21a of the pallet 21 is detected based on the image data and point cloud data, and the position and posture of the pallet 21 relative to the reach forklift 1 are calculated. Then, as shown in Fig. 8(b), a travel route R is generated in which the reach forklift 1 moves backward in a straight line for a predetermined distance, then moves forward toward the target position and turns left.

[0058] Then, as shown in Figure 8(c), the reach forklift 1 travels from the detection position to the target position along the travel route R. Specifically, the reach forklift 1 travels backward in a straight line from the detection position for a predetermined distance, then moves forward and turns left to reach the target position.

[0059] Thereafter, the forks 6 are raised by the lift cylinders 7 to a height position of the pallet 21. Then, the forks 6 are moved forward by the reach cylinders (not shown) and inserted into the fork holes 22 of the pallet 21, and the forks 6 are raised by the lift cylinders 7 in this state, so that the pallet 21 is held by the forks 6. Then, the forks 6 are moved backward by the reach cylinders (not shown), and the reach forklift 1 transports the pallet 21 to the designated location.

[0060] Incidentally, as shown in Figure 9(a), in a location where there is a lot of space to the right of the truck 60, the approach distance of the reach forklift 1 can be increased in the lateral direction of the truck 60. Therefore, even if the camera 24 and laser sensor 25 are facing forward of the reach forklift 1, the camera 24 and laser sensor 25 can detect the front surface 21a of the pallet 21, and the reach forklift 1 can move forward toward the pallet 21 to approach it. Note that the camera 24 and laser sensor 25 are omitted from Figure 9 for convenience.

[0061] However, as shown in Figure 9(b), if an object 61 such as another truck, a wall, a shelf, or cargo is placed to the right of the truck 60, the space to the right of the truck 60 becomes narrower, and the approach distance of the reach forklift 1 cannot be increased in the lateral direction of the truck 60. For this reason, if the camera 24 and laser sensor 25 are facing forward of the reach forklift 1, the camera 24 and laser sensor 25 cannot detect the front surface 21a of the pallet 21 depending on the distance between the truck 60 and the object 61. Therefore, the reach forklift 1 cannot travel forward to the target position, which is just before the pallet 21.

[0062] To address this issue, in this embodiment, the front surface 21a of the pallet 21 is detected based on image data from the camera 24 and point cloud data from the laser sensor 25. With the reach forklift 1 positioned relative to the pallet 21 so that the longitudinal direction of the reach forklift 1 intersects with the longitudinal direction of the pallet 21, the camera 24 captures an image of the front surface 21a of the pallet 21 laterally of the reach forklift 1, and the laser sensor 25 irradiates a laser beam laterally toward the front surface 21a of the pallet 21. Therefore, even if the space on the front surface 21a side of the pallet 21 is narrow, the front surface 21a of the pallet 21 can be detected. By generating a travel path R that causes the reach forklift 1 to turn toward the target position, the reach forklift 1 can travel to the target position relative to the pallet 21, even if the space on the front surface 21a side of the pallet 21 is narrow. As described above, the reach forklift 1 can pick up goods even if the approach distance of the reach forklift 1 along the longitudinal direction of the pallet 21 is short.

[0063] In addition, by erecting pillar portions 26 of the mounting member 23 on both the left and right sides of the upper part of the frame 13 that forms the driver's seat 12 in the body 2 of the reach forklift 1 and attaching the camera 24 and laser sensor 25 to the pillar portions 26, the camera 24 and laser sensor 25 can be easily mounted on the reach forklift 1.

[0064] In addition, in this embodiment, the provision of reinforcing parts 27 connecting the pair of left and right pillar parts 26 increases the rigidity of each pillar part 26, thereby ensuring the strength necessary for attaching the camera 24 and the laser sensor 25. Therefore, the camera 24 and the laser sensor 25 can be stably mounted on the reach forklift 1.

[0065] In this embodiment, a transparent member 41 is disposed between the pair of left and right pillars 26. Therefore, the transparent member 41 contributes to protecting the operator when manually operating the reach forklift 1. Also, for example, information necessary for driving the reach forklift 1, loading and unloading, etc. can be displayed on the transparent member 41.

[0066] In this embodiment, the pillars 26 are erected on the upper part of the frame 13, in front of the driver's seat 12 and outboard of the mast 4 in the left-right direction. Therefore, when the operator manually operates the reach forklift 1, the impact on the operator's operation and forward visibility can be reduced.

[0067] Furthermore, in this embodiment, the camera 24 and the laser sensor 25 are attached to the pillar 26 via the mounting bracket 30, which allows the camera 24 and the laser sensor 25 to be mounted more easily and stably on the reach forklift 1. Furthermore, by providing the pillar 26 with an exposed portion 35 that exposes the front surface 24a of the camera 24 and an exposed portion 37 that exposes the front surface 25a of the laser sensor 25, the front surface 24a of the camera 24 and the front surface 25a of the laser sensor 25 can be protected.

[0068] The present invention is not limited to the above-described embodiment. For example, in the above-described embodiment, the front surface 21a of the pallet 21 is detected from directly beside the reach forklift 1, but the present invention is not particularly limited to such a configuration. For example, the camera 24 may capture an image of the front surface 21a of the pallet 21 diagonally forward from directly beside the reach forklift 1, and the laser sensor 25 may irradiate the front surface 21a of the pallet 21 diagonally forward from directly beside the reach forklift 1, thereby detecting the front surface 21a of the pallet 21 from directly beside the reach forklift 1. In this case, by generating a travel path R such that the reach forklift 1 moves forward from the detection position toward the target position and then turns, there is no need to reverse the reach forklift 1.

[0069] Furthermore, in the above embodiment, the camera 24 and laser sensor 25 detect the front surface 21a of the pallet 21 in the lateral direction of the reach forklift 1 when the reach forklift 1 is positioned relative to the pallet 21 so that the front-to-back direction of the reach forklift 1 intersects perpendicularly with the front-to-back direction of the pallet 21, but this is not particularly limited to such a configuration. The camera 24 and laser sensor 25 may also detect the front surface 21a of the pallet 21 in the lateral direction of the reach forklift 1 when the reach forklift 1 is positioned relative to the pallet 21 so that the front-to-back direction of the reach forklift 1 intersects diagonally with the front-to-back direction of the pallet 21.

[0070] In the above embodiment, the reach forklift 1 moves backward and stops temporarily at the detection position, and in that state the camera 24 and laser sensor 25 detect the front surface 21a of the pallet 21, but this is not particularly limited to such an embodiment. The reach forklift 1 may move forward and stop temporarily at the detection position, and in that state the camera 24 and laser sensor 25 may detect the front surface 21a of the pallet 21. Alternatively, the reach forklift 1 may move backward or forward at a very slow or low speed, and the camera 24 and laser sensor 25 may detect the front surface 21a of the pallet 21.

[0071] Furthermore, in the above embodiment, the mounting bracket 30 for attaching the camera 24 and the laser sensor 25 to the pillar portion 26 has a mounting portion 31 on which the camera 24 is placed and a mounting portion 32 on which the laser sensor 25 is placed, but the structure of the mounting bracket 30 is not particularly limited to this form and can be modified in various ways.

[0072] Furthermore, in the above embodiment, the camera 24 is disposed on the upper side and the laser sensor 25 is disposed on the lower side, but the positions of the camera 24 and the laser sensor 25 may be reversed.

[0073] In the above embodiment, the camera 24 and the laser sensor 25 are attached to the pillar 26 so as to be arranged side by side in the up-down direction of the vehicle body 2, but this is not particularly limited to such a configuration. The camera 24 and the laser sensor 25 may also be attached to the pillar 26 so as to be arranged side by side in the fore-aft direction of the vehicle body 2.

[0074] In addition, in the above embodiment, the pair of left and right pillar portions 26 are connected to each other by the reinforcing portion 27, but such reinforcing portion 27 may not be necessary. In this case, the structure of the mounting member 23 can be simplified.

[0075] Furthermore, in the above embodiment, the resin cover 40 is attached to each of the pillars 26, and the transparent member 41 is disposed between each of the pillars 26, but such a resin cover 40 and a transparent member 41 may not be necessary.

[0076] Furthermore, in the above embodiment, when the reach forklift 1 is used to retrieve an item, the front surface 21a of the pallet 21 is detected, and based on the detection results, the reach forklift 1 automatically travels to a target position where the forks 6 can be inserted into the fork holes 22 of the pallet 21, but this is not a particular limitation. For example, when placing the pallet 21 held by the forks 6 in a specified location, or in other words, when placing the item, the front surface 21a of the existing pallet 21 may be detected, and based on the detection results, the reach forklift 1 may automatically travel to a target position adjacent to the existing pallet 21.

[0077] Furthermore, in the above embodiment, the pallet 21 is placed on the loading platform 60a of the truck 60, but the location where the pallet 21 is placed is not limited to the truck 60, and may be a loading platform, shelf, floor, or the like other than a vehicle.

[0078] In addition, in the reach forklift 1 of the above embodiment, the left pillar portion 17 is positioned further forward than the right pillar portion 18, but the present invention is also applicable to reach forklifts in which the left pillar portion 17 and the right pillar portion 18 are positioned at the same position in the fore-and-aft direction of the vehicle body 2. [Explanation of symbols]

[0079] 1...reach forklift, 2...vehicle body, 4...mast, 6...fork, 12...driver's seat, 13...frame, 20...pallet detection device, 21...pallet, 21a...front, 23...mounting member, 24...camera, 24a...front, 25...laser sensor, 25a...front, 26...column portion, 27...reinforcement portion, 30...mounting bracket, 31...placing portion (first placing portion), 32...placing portion (second placing portion), 35...exposed portion (first exposed portion), 37...exposed portion (second exposed portion), 41...transparent member, 54...detection processing unit (detection unit).

Claims

1. A pallet detection device is mounted on a reach forklift truck having a pair of left and right forks that are attached to a mast that can be moved in the fore-and-aft direction of the vehicle body and that detects a pallet that is located to the side of the reach forklift truck, a mounting member having a pair of left and right pillar portions erected on both left and right sides of an upper portion of a frame forming a driver's seat in the vehicle body; a camera attached to the pillar portion and configured to capture an image of the front of the pallet in a lateral direction of the reach forklift; a laser sensor attached to the pillar, which irradiates a laser beam laterally of the reach forklift toward the front surface of the pallet and receives reflected light of the laser to detect the distance to the front surface of the pallet; a detection unit that detects the front surface of the pallet based on image data from the camera and detection data from the laser sensor, the camera and the laser sensor are attached to the pillar via a mounting bracket so as to be arranged side by side in the vertical direction, the mounting bracket has a first mounting portion on which the camera is mounted, and a second mounting portion disposed below or above the first mounting portion and on which the laser sensor is mounted, The pallet detection device, wherein the pillar portion is provided with a first exposed portion that exposes the front surface of the camera and a second exposed portion that exposes the front surface of the laser sensor.

2. 2. The pallet detecting device according to claim 1, wherein the mounting member further includes a reinforcing portion extending in the left-right direction of the vehicle body and connecting the pair of left and right pillar portions together.

3. 2. A pallet detecting device according to claim 1, wherein a transparent member is disposed between the pair of left and right columns.

4. 2. The pallet detecting device according to claim 1, wherein the pillars are erected on the upper part of the frame in front of the driver's seat and outboard of the mast in the left-right direction.

Images