Position detection device, cargo handling vehicle, and program

Abstract

To improve working efficiency of a cargo handling operation.SOLUTION: A forklift 1 includes: a laser scanner 24 capable of obtaining information about a distance to a gate 42 on a near side of a loading space 41 of a truck 40 that loads a load L thereon; and a control part 27 that calculates a position of a tip 42a on the most near side in the gate 42 on the basis of the information about the distance obtained by the laser scanner 24.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a position detection device, a loading and unloading vehicle, and a program.

Background Art

[0002] As a loading and unloading operation by a loading and unloading vehicle such as a forklift, it may be necessary to load and unload goods from the loading platform of a truck (see, for example, Patent Document 1). The loading platform of a truck is provided with an enclosure called an aori for preventing the loaded goods from falling and improving the loading and unloading performance. The aori is attached to the loading platform so as to be openable and closable by a hinge at the base end, and is opened and tilted outside the loading platform when loading and unloading goods.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, since there are restrictions on the reach amount of the forks on the loading and unloading vehicle, it is desirable to be able to approach the loading platform as close as possible to the vehicle body while avoiding contact with the aori. However, the opening and closing condition of the aori gradually becomes dull due to the aging of the hinge or the like. Therefore, if sufficient time has not elapsed since the aori was opened, the position of the aori may change (gradually fall) each time the loading and unloading vehicle approaches the loading platform. In that case, if simply trying to avoid contact between the vehicle body and the aori, the vehicle body may not be able to approach the loading platform sufficiently, and a two-stage placement may be required, etc., which may reduce the working efficiency.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to improve the working efficiency of the loading and unloading operation.

Means for Solving the Problems

[0006] The position detection device according to the present invention is A measuring means capable of acquiring distance information to the front side plate of the loading platform on which the load is placed, A calculation means calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means, Equipped with 、 The aforementioned calculation means Based on the distance information acquired by the measuring means, the side plate detection line where the side plate was detected is determined. The position of the first part is determined by identifying the point that is closest to the front among the points that are within a predetermined distance from the side plate detection line. . Furthermore, the position detection device according to the present invention is A measuring means capable of acquiring distance information to the front side plate of the loading platform on which the load is placed, A calculation means calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means, Equipped with, The aforementioned measuring means is provided with two measuring means that are spaced apart in a direction perpendicular to the measuring area of ​​the measuring means and substantially along the upper surface of the base described above. The calculation means individually calculates the position of the first part based on distance information obtained from each of the two measuring means.

[0007] The cargo handling vehicle according to the present invention is The above-mentioned position detection device, A vehicle body that is capable of driving, A fork is provided on the vehicle body so as to be able to move up and down and to hold the load, Based on the position of the first part calculated by the calculation means, a control means moves the vehicle body closer to the side plate, It is equipped with. Furthermore, the cargo handling vehicle according to the present invention A position detection device comprising: a measuring means capable of acquiring distance information to the front side plate of a loading platform on which a load is placed; and a calculation means that calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means; A vehicle body that is capable of driving, A fork is provided on the vehicle body so as to be able to move up and down and to hold the load, Based on the position of the first part calculated by the calculation means, a control means moves the vehicle body closer to the side plate, Equipped with, The control means, when the side plate detection line that detected the side plate is in a predetermined state, moves the vehicle body or the fork closer to the side plate until it makes contact with the side plate.

[0008] The program according to the present invention is A computer for a position detection device equipped with a measuring means capable of acquiring distance information to the front side plate of a loading platform on which a load is placed, Calculation means for calculating the position of the first part of the side plate that is the closest to the measurement means among the side plates based on the distance information acquired by the measurement means. Function as 、 The aforementioned calculation means Based on the distance information acquired by the measuring means, the side plate detection line where the side plate was detected is determined. The position of the first part is determined by identifying the point that is closest to the front among the points that are within a predetermined distance from the side plate detection line. . Furthermore, the program according to the present invention is A computer for a position detection device equipped with a measuring means capable of acquiring distance information to the front side plate of a loading platform on which a load is placed, A calculation means calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means. To make it function as, The aforementioned measuring means is provided with two measuring means that are spaced apart in a direction perpendicular to the measuring area of ​​the measuring means and substantially along the upper surface of the base described above. The calculation means individually calculates the position of the first part based on distance information obtained from each of the two measuring means.

Advantages of the Invention

[0009] According to the present invention, the working efficiency of the handling operation can be improved.

Brief Description of the Drawings

[0010] [Figure 1] It is a side view of a forklift according to an embodiment. [Figure 2] It is a block diagram showing a schematic control configuration of a forklift according to an embodiment. [Figure 3] It is a flowchart showing the flow of the loading process according to an embodiment. [Figure 4] It is a diagram for explaining the loading process according to an embodiment. [Figure 5] It is a diagram for explaining the loading process according to an embodiment. [Figure 6] It is a diagram for explaining the loading process according to an embodiment. [Figure 7] It is a diagram for explaining the loading process according to an embodiment. [Figure 8] It is a diagram for explaining the state of the vortex that changes with the passage of time.

Modes for Carrying Out the Invention

[0011] Embodiments of the present invention will be described in detail below with reference to the drawings.

[0012] [Forklift configuration] Figure 1 is a side view of the forklift 1 according to this embodiment. The forklift 1 according to this embodiment is an example of a cargo handling vehicle according to the present invention, and performs cargo handling operations including loading cargo L onto the cargo bed 41 (see Figure 4) of a truck 40. Furthermore, the forklift 1 is not particularly limited, but is an automated guided forklift (AGF) that can operate unmanned (automatically), and performs predetermined cargo handling operations based on operation commands from a management server (not shown).

[0013] Specifically, the forklift 1's body 10 comprises a vehicle body 11, forks 12, a lifting body (lift) 13, a mast 14, and wheels 15. The mast 14 is located in front of the vehicle body 11 and is driven by a power source (not shown) to tilt forward and backward from the vehicle body 11. The lifting body 13 is driven by a power source (not shown) and moves up and down along the mast 14. The lifting body 13 is fitted with a pair of left and right forks 12 for holding loads L, pallets 30, etc. The pair of forks 12 can tilt and move up and down relative to the vehicle body 11 by the drive of the mast 14 and the lifting body 13. The pallet 30 is a loading platform on which the load L is placed. The pallet 30 is formed in the shape of a short rectangular plate and has two holes (fork pockets) 32 into which a pair of forks 12 are inserted.

[0014] Figure 2 is a block diagram showing the schematic control configuration of forklift 1. As shown in this figure, in addition to the above configuration, the forklift 1 includes a drive unit 21, an operation unit 22, a display unit 23, a communication unit 28, a laser scanner 24, a position measuring device 25, a storage unit 26, and a control unit 27. The position detection device according to the present invention includes a laser scanner 24 and a control unit 27.

[0015] The drive unit 21 includes various drive sources for the forklift 1, such as a travel motor, a steering motor, and a cargo handling motor (all not shown). The travel motor drives the drive wheels among the wheels 15. The steering motor rotates the steering wheels among the wheels 15 (steering action). The cargo handling motor is the drive source that performs the raising and lowering of the lifting body 13 and the tilting of the mast 14.

[0016] The control unit 22 is, for example, an operating means used by the driver to perform various operations during manned (manual) operation. The control unit 22 includes, for example, a steering wheel, pedals, levers, various buttons, etc., and outputs operation signals corresponding to the content of these operations to the control unit 27. The display unit 23 is, for example, a liquid crystal display, an organic electroluminescent display, or other display, and displays various information based on display signals input from the control unit 27. The display unit 23 may also be a touch panel that also functions as part of the operation unit 22. The display unit 23 may also include an audio output unit capable of outputting sound. The communication unit 28 is a communication device capable of sending and receiving various types of information with the management server and the like.

[0017] The laser scanner 24 is an example of a measurement means according to the present invention, and acquires distance information within a predetermined scan area (measurement area) N in front of the vehicle body and outputs the result to the control unit 27. The laser scanner 24 in this embodiment is a two-dimensional distance sensor (for example, a two-dimensional LiDAR (LASER Imaging Detection and Ranging)) having a planar scan area N that is substantially orthogonal to the left-right direction of the vehicle body 10. The laser scanner 24 is positioned higher than the height of a typical truck bed (e.g., 1.4 m) (see Figure 4). The laser scanner 24 is also positioned on both the left and right sides of the vehicle body 11 (see Figure 6). Each laser scanner 24 protrudes from the side of the vehicle so that its scanning area N is not obstructed by the load L when it is mounted on the forks 12. In the following, the right-hand laser scanner 24R may be identified by adding "R" to the end of its code, and the left-hand laser scanner 24L by adding "L" to the end of its code (see Figure 6).

[0018] The position measuring device 25 measures the position of the forklift 1 itself. The self-position information acquired by the position measuring device 25 is transmitted to a management server, for example, and used for position control of the forklift 1 itself. The specific configuration of the position measuring device 25 is not particularly limited; for example, it may utilize GNSS (Global Navigation Satellite System). Alternatively, it may use a sensor that measures the direction of travel (such as an inertial measuring device) and a distance sensor to sequentially accumulate the direction and distance traveled in a short period of time to measure the position, or it may detect reflectors (markers) placed at various locations in the work area with an optical sensor and measure the position of the forklift 1 by comparing it with pre-set reflector placement information.

[0019] The storage unit 26 is a memory composed of, for example, RAM (Random Access Memory) or ROM (Read Only Memory), and stores various programs and data, as well as functioning as a work area for the control unit 27. In this embodiment, the storage unit 26 pre-stores a loading program 260 for executing the loading process described later (see Figure 3). The control unit 27 is composed of, for example, a CPU (Central Processing Unit) and controls the operation of each part of the forklift 1. Specifically, the control unit 27 operates the drive unit 21 based on operation commands from the management server, and deploys programs pre-stored in the storage unit 26 and executes various processes in cooperation with the deployed programs.

[0020] [Loading and unloading] Next, we will explain the operation of forklift 1 when it performs the loading process during cargo handling operations. Figure 3 is a flowchart showing the loading process. Figures 4 to 7 are diagrams illustrating the loading process; of these, Figures 4 and 7 are side views of forklift 1 during loading, Figure 5 is a diagram illustrating an example of how point cloud data acquired by laser scanner 24 is processed, and Figure 6 is a top view of forklift 1 during loading.

[0021] The loading process is performed when the forklift 1 loads cargo L onto the cargo bed 41 of the truck 40. This loading process is performed when the control unit 27 of the forklift 1 reads and loads the loading program 260 from the storage unit 26. In the following, when viewed from forklift 1, the side closer to forklift 1 will be referred to as the "front side," and the side further away will be referred to as the "back side."

[0022] As shown in Figure 3, when the loading process is executed, the control unit 27 first picks up the cargo L on the pallet 30 from, for example, a warehouse, and starts the loading operation to sequentially load it onto the loading bed 41 of the truck 40 (step S1). Note that the loading process may be executed only during the loading phase of the loading operation. As shown in Figure 4, the truck 40 has its cargo bed 41 exposed with the tailgate (side tailgate) 42 on the front side of the cargo bed 41 open. Based on an operation command from the management server, the forklift 1 travels along a predetermined path, approaches the truck 40 from the side where the tailgate 42 is open, and loads the cargo L (pallet 30) into a predetermined position on the cargo bed 41. When transporting the cargo L (pallet 30), the forklift 1 moves with its forks 12 positioned at a relatively low height (for example, 300 mm from the ground). It is assumed that both the forklift 1 and the cargo bed 41 are approximately horizontal.

[0023] In cargo handling operations, when forklift 1 has driven close to truck 40 with its forks 12 holding the load L (pallet 30), it positions its body 10 directly toward the side of the cargo bed 41 on the side where the tailgate 42 is open, in order to load the load L onto the cargo bed 41. Positioning the body 10 directly toward the side of the cargo bed 41 means that, at the side of truck 40, the front of the body 10 is facing the cargo bed 41 (on the side where the tailgate 42 is open). In this embodiment, the forklift 1 moves along the length of the truck 40 from the front or rear of the truck 40, and then rotates the vehicle body 10 to the side of the truck 40 by a so-called switchback, so that the vehicle body 10 faces directly in front of the side of the cargo bed 41.

[0024] At this time, the control unit 27 rotates the vehicle body 10 so that it faces directly to the side of the cargo bed 41, and the laser scanner 24 scans the cargo bed 41 (step S2). Specifically, during the rotation of the vehicle body 10, the control unit 27 operates the laser scanner 24 on the side closer to the loading platform 41 for a predetermined time (or rotation angle) such that its scan area N extends to the planned placement position 41P (see Figure 6) of the load L on the loading platform 41. The control unit 27 then acquires distance information at the planned placement position 41P on the loading platform 41 and detects the object at this planned placement position 41P. The position (movement range) of the forklift 1 when the laser scanner 24 is operated is preset based on the movement path.

[0025] Next, the control unit 27 determines from the scan results of step S2 whether or not there are any obstacles at the planned placement position 41P of the loading platform 41 (step S3). Here, an obstacle refers to anything present at the planned placement position 41P of the loading platform 41, including people (workers, etc.). However, for example, objects smaller than a predetermined size may be ignored (determined not to exist) as not posing a problem. Then, if it is determined that there is an obstacle at the planned placement position 41P of the cargo bed 41 (step S3; Yes), the control unit 27 stops the vehicle body 10, notifies the management server (or driver) that there is an obstacle on the cargo bed 41 (step S4), and then proceeds to step S11 described below. The notification method in this case is not particularly limited; a notification signal may be sent to the management server, or a warning display may be shown on the display unit 23, or a warning sound may be output.

[0026] On the other hand, if in step S3 it is determined that there are no obstacles at the planned placement position 41P of the cargo bed 41 (step S3; No), the control unit 27 scans the cargo bed 41 again with the vehicle body 10 facing directly to the side of the cargo bed 41 (step S5). Here, the vehicle body 10 is positioned directly facing the cargo bed 41 and brought close to the cargo bed 41 to a predetermined distance (for example, 2m, within the distance range where the detection accuracy of the laser scanner 24 is good) and stopped. Then, the left and right laser scanners 24 are used to scan the area individually. Each scan area N includes the upper surface 41a of the cargo bed 41 and the front (lower end) 42a of the tailgate 42. This provides distance information within the scan area N, which includes the upper surface 41a of the cargo bed 41 and the entire tailgate 42.

[0027] Next, the control unit 27 calculates the height of a predetermined position on the upper surface 41a of the cargo bed 41 from the scan results of step S5 and determines the highest position among them (step S6). Specifically, in this step, as shown in Figure 5, the control unit 27 first determines a cargo bed detection line L1 that detects (fits) the upper surface 41a of the cargo bed 41 and a tailgate detection line L2 that detects the surface of the tailgate 42, based on the point cloud data obtained by scanning. The cargo bed detection line L1 is obtained, for example, by taking point cloud data that is at a height close to the upper surface 41a of the actual cargo bed 41 and distributed approximately horizontally, and applying a straight line detection algorithm to this point cloud data obtained from the upper surface 41a. The tailgate detection line L2 is obtained, for example, by taking point cloud data that is distributed downwards from the front end (near end) of the cargo bed 41 and applying a straight line detection algorithm to this point cloud data obtained from the tailgate 42. The straight line detection algorithm is not particularly limited as long as it obtains the straight line that best fits the point cloud data, and for example, a fitting method using the least squares method may be used. In this embodiment, a wall detection line L3 is obtained by detecting a wall 43 (see Figure 4) that rises upwards from the cargo bed 41 on the rear side of the truck 40, and a ground detection line L4 is obtained by detecting the approximately horizontal ground (floor) at the lower front side. Next, the control unit 27 determines the intersection point A of the cargo bed detection line L1 and the tailgate detection line L2. Intersection point A represents the front end of the cargo bed 41. Note that it is sufficient to determine the point at the front end of the cargo bed 41, and it may be determined, for example, as the closest point located in the vicinity (within a predetermined distance) of the cargo bed detection line L1.

[0028] Then, as shown in Figure 6, the control unit 27 sets a position P1 at a distance d1 from intersection A on the loading platform detection line L1, and a position P2 at a distance d2 from position P1. Distances d1 and d2 are set based on the size of the pallet 30 and the planned placement position 41P, such that the four positions P1R, P2R, P1L, and P2L obtained from the two left and right laser scanners 24 correspond suitably to the planned placement position 41P of the pallet 30 (for example, the positions corresponding to its four corners). For example, in this embodiment, the width of the pallet 30 is 900 to 1100 mm, and the corresponding distance d2 is set to 1000 mm. Then, the control unit 27 determines the highest position among the four positions P1R, P2R, P1L, and P2L on the left and right.

[0029] Next, the control unit 27 raises the fork 12 to a position that is a predetermined height higher than the highest of the four positions P1R, P2R, P1L, and P2L (step S7). Here, as shown in Figure 7(a), the forks 12 are raised so that the top surface 41a of the loading platform 41 and the bottom surface of the pallet 30 are separated by a margin of height h2 (e.g., 20 mm). The height h2 is not particularly limited, but is the minimum height at which contact between the loading platform 41 and the pallet 30 can be reliably avoided, even when considering assumed error factors.

[0030] Next, the control unit 27 calculates the position of the foremost tip 42a (first part) of the tilt 42 from the scan results of step S5 (step S8). Specifically, in this step, as shown in Figure 5, the control unit 27 first determines point B, which is the closest point in the point cloud data among the points located near the tilt detection line L2 (points within a predetermined distance range). If the tilt detection line L2 was not determined in step S6, it is determined here. Then, the point B that was found is designated as the tip 42a of the tilt angle 42, and its position (coordinates) is determined.

[0031] Next, as shown in Figure 7(b), the control unit 27 moves the vehicle body 10 forward by a predetermined distance from the position of the tip 42a of the tailgate 42 determined in step S8 (step S9). The position of the tip 42a of the tailgate 42, determined in step S8, is a relative position (coordinate) from the laser scanner 24. Therefore, here, we first determine the relative position from the front end of the vehicle body 11 (the relative position of the laser scanner 24 on the vehicle body 10 is known). Then, we move the forklift 1 (vehicle body 10) forward so that the front end of the vehicle body 11 and the tip 42a of the tailgate 42 are separated by a margin of distance d3. The distance d3 is not particularly limited, but for example, it is the minimum distance at which contact between the vehicle body 10 and the tailgate 42 can be reliably avoided, even when considering assumed error factors.

[0032] Next, the control unit 27 operates the forks 12 (such as reaching or lifting down) to load the load L (pallet 30) onto the loading platform 41 (step S10).

[0033] Next, the control unit 27 determines whether or not to terminate the loading process (step S11). If it determines not to terminate the process (step S11; No), it proceeds to step S2 described above and continues the loading and unloading operation. Then, if it is determined that the loading process should be terminated, for example, due to the completion of cargo handling operations (step S11; Yes), the control unit 27 terminates the loading process.

[0034] [Technical effects of this embodiment] As described above, according to this embodiment, distance information to the front side of the cargo bed 41 and the tailgate 42 is acquired by the laser scanner 24, and the position of the frontmost tip 42a of the tailgate 42 is calculated based on this distance information. This allows the vehicle body 10 to be brought sufficiently close to the tailgate 42, regardless of the state of the tailgate 42. In other words, as shown in Figures 8(a) and (b), the state of the tailgate 42 may change over time (it may gradually tilt down and its tip 42a may lower), but even in such cases, the position of the tip 42a of the tailgate 42 can be suitably detected. Therefore, it is possible to bring the vehicle body 10 (vehicle body 11) close enough to the tailgate 42 while reliably avoiding contact between the vehicle body 10 and the tailgate 42. Consequently, the forks 12 can be quickly operated with the vehicle body 10 close enough to the cargo bed 41, thereby improving the efficiency of cargo handling operations. Furthermore, the shape and structure (height, opening and closing angle, etc.) of the tailgate 42 may differ depending on the type of truck 40. According to this embodiment, it is possible to accommodate multiple types of trucks 40 with different tailgate shapes and structures without reducing work efficiency.

[0035] Furthermore, according to this embodiment, based on the point cloud data acquired by the laser scanner 24, the position of the point closest to the viewer among the points that are within a predetermined distance from the tilt detection line L2 where the tilt 42 was detected is determined as the tip 42a. This allows for the optimal detection of the tip 42a of the tilt 42.

[0036] Furthermore, according to this embodiment, a two-dimensional distance sensor having a planar scanning area N is used as the laser scanner 24. Therefore, compared to using, for example, 3D-LiDAR capable of three-dimensional measurement, the cost of the measuring instrument can be reduced.

[0037] Furthermore, according to this embodiment, two laser scanners 24 are provided that are spaced apart in the left-right direction, perpendicular to the scanning area N and substantially along the upper surface 41a of the cargo bed 41. Based on the distance information acquired from each of these two laser scanners 24, the position of the tip 42a of the tailgate 42 is calculated individually. This allows for a suitable response even when, for example, the loading platform 41 or the forklift 1 itself is tilted.

[0038] [others] Although embodiments of the present invention have been described above, the present invention is not limited to the above embodiments (including modifications). For example, in the loading process of the above embodiment, the tailgate detection line L2 obtained in step S6 (or S8) is used to detect the tip 42a of the tailgate 42 in step S8, and then in step S9 the vehicle body 10 is moved forward until it is sufficiently close to the tailgate 42. However, in a predetermined state such as when the tailgate detection line L2 is not sufficiently upright (angle with the horizontal line is within a predetermined range), that is, when it is determined that the tailgate 42 is not fully open, the vehicle body 10 may be brought closer to the tailgate 42 and the vehicle body 11 or fork 12 may be lightly touched (poked) against the tailgate 42 to expedite the opening of the tailgate 42.

[0039] Furthermore, in the above embodiment, the frontmost part of the tailgate 42 (the first part) is defined as the tip 42a, but the first part according to the present invention does not have to be the tip of the tailgate, as long as it is the frontmost part.

[0040] Furthermore, in the above embodiment, the forklift 1 is moved forward so that the vehicle body 11 and the tailgate 42 do not come into contact, based on the position of the tailgate 42 in the front-rear direction (depth direction) of the forklift 1. In other words, contact between the vehicle body 11 and the tailgate 42 was determined using only the coordinates in the front-rear direction. However, these contact determinations may also be performed by taking height into account. For example, if the front end of the vehicle body 11 is located below the tailgate 42, the front-rear position may be superimposed on the assumption that they do not come into contact.

[0041] Furthermore, in the above embodiment, laser scanners 24 are provided on both the left and right sides of the vehicle body 10, but the position and number of laser scanners 24 are not particularly limited. For example, they may be installed on only one side, or in the center of the vehicle body 10. However, it is preferable that they be installed at a position higher than the loading platform on which the load is placed. In addition, the measuring means according to the present invention is not limited to laser scanners, and is not limited to any means capable of acquiring distance information to the front side of the loading platform on which the load is placed.

[0042] Furthermore, in the above embodiment, four positions on the loading platform 41 were determined in step S6 of the loading process, but the number and coordinates of the positions on the loading platform 41 determined here are not particularly limited.

[0043] Furthermore, in the above embodiment, the vehicle body 10 is stopped and the scan is performed in step S5 of the loading process, but the scan may also be performed while driving (for example, moving forward). However, in this case, it is of course necessary to correct the detection results by the amount of movement of the vehicle body 10.

[0044] Furthermore, the above embodiment was described using the example of loading cargo L onto a cargo bed 41 having a tailgate (side plate) 42. However, the tailgate according to the present invention is not limited to the tailgate of a truck, as long as it is located on the front side (measuring means side) of the loading platform on which the cargo is placed. Also, the loading platform according to the present invention is not limited to the cargo bed of a truck, as long as it is a platform-like part that is higher than the ground (floor) on which the cargo is placed, for example, it may be a shelf (board) or the like. Furthermore, the present invention is not limited to loading cargo onto a loading platform (mounting platform), but is broadly applicable to approaching the loading platform, including unloading cargo from the loading platform.

[0045] Furthermore, in the above embodiment, the control unit 27 mounted on the forklift 1 performs various calculations. However, a control means provided outside the forklift 1 may perform calculations based on information transmitted from the forklift 1 and transmit the results to the forklift 1.

[0046] Furthermore, in the above embodiment, the forklift 1 was assumed to be an unmanned transport forklift. However, the material handling vehicle according to the present invention includes those that can be operated by a person (including remote operation) and those that can switch between operated by a person and operated unmanned. In addition, the present invention can also be used as an assist function for operated by a person. Furthermore, the cargo handling vehicle according to the present invention is not limited to a forklift, as long as it can hold a load with forks (or something similar) and move, it also includes, for example, an automated guided vehicle (AGV) that operates without a driver. Furthermore, details shown in the above embodiments can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0047] 1. Forklift (material handling vehicle) 10 car bodies 11. Vehicle body 12 forks 24. Laser scanner (measurement means) 27 Control Unit (Calculation means, control means) 30 pallets 40 tracks 41. Cargo bed (mounting platform) 41a Top side 41P Planned installation location 42 Side panels 42a Tip (1st part) 260 Loading Programs A intersection Point B (tip of the tilt) d1 distance d2 distance d3 distance L load L1 Cargo bed detection line L2 tilt detection line (side panel detection line) N scan area (measurement area) P1, P1R, P1L position P2, P2R, P2L position

Claims

1. A measuring means capable of acquiring distance information to the front side plate of the loading platform on which the load is placed, A calculation means calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means, Equipped with, The aforementioned calculation means is Based on the distance information acquired by the measuring means, the side plate detection line where the side plate was detected is determined. The position of the first part is determined by selecting the point located closest to the front among the points within a predetermined distance from the side plate detection line. Position detection device.

2. The measurement means acquires point cloud data as distance information, The calculation means determines the side plate detection line where the side plate was detected based on the point cloud data. The position detection device according to claim 1.

3. The measuring means is a two-dimensional distance sensor having a planar measuring area, and two of them are provided spaced apart in a direction perpendicular to the measuring area and substantially along the upper surface of the base described above. The calculation means calculates the position of the first part individually based on distance information obtained from each of the two measuring means. A position detection device according to claim 1 or claim 2.

4. A measuring means capable of acquiring distance information to the front side plate of a loading platform on which a load is placed, A calculation means calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means, Equipped with, The aforementioned measuring means is provided with two measuring means that are spaced apart in a direction perpendicular to the measuring area of ​​the measuring means and substantially along the upper surface of the base described above. The calculation means calculates the position of the first part individually based on distance information obtained from each of the two measuring means. Position detection device.

5. A position detection device according to any one of claims 1 to 4, A vehicle body that is capable of driving, A fork is provided on the vehicle body so as to be able to move up and down and to hold the load, Based on the position of the first part calculated by the calculation means, a control means moves the vehicle body closer to the side plate, A cargo handling vehicle equipped with the following features.

6. The control means, when the side plate detection line that detected the side plate is in a predetermined state, moves the vehicle body closer to the side plate until the vehicle body or the fork makes contact with the side plate. A cargo handling vehicle according to claim 5.

7. A position detection device comprising: measuring means capable of acquiring distance information to the front side plate of a loading platform on which a load is placed; and calculation means that calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means, A vehicle body that is capable of driving, A fork is provided on the vehicle body so as to be able to move up and down and to hold the load, Based on the position of the first part calculated by the calculation means, a control means moves the vehicle body closer to the side plate, Equipped with, The control means, when the side plate detection line that detected the side plate is in a predetermined state, moves the vehicle body closer to the side plate until the vehicle body or the fork makes contact with the side plate. Material handling vehicle.

8. A computer for a position detection device equipped with a measuring means capable of acquiring distance information to the front side plate of a loading platform on which a load is placed, A calculation means calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means. To make it function as, The aforementioned calculation means is Based on the distance information acquired by the measuring means, the side plate detection line where the side plate was detected is determined. The position of the first part is determined by selecting the point located closest to the front among the points within a predetermined distance from the side plate detection line. program.

9. A computer for a position detection device that includes measuring means capable of acquiring distance information to the front side plate of a loading platform on which a load is placed, A calculation means calculates the position of the first portion of the side plate that is closest to the measuring means, based on the distance information acquired by the measuring means. To make it function as, The aforementioned measuring means is provided with two measuring means that are spaced apart in a direction perpendicular to the measuring area of ​​the measuring means and substantially along the upper surface of the base described above. The calculation means calculates the position of the first part individually based on distance information obtained from each of the two measuring means. program.

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