Method for detecting blind spots inside a storage facility

Abstract

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

Description

Technical Field

[0001] The present invention relates to a method for detecting dead corners in a warehouse when using a pallet of a mechanical parking device as a storage location for goods.

Background Art

[0002] A mechanical parking device is a facility in which a mechanical device is installed inside a building constructed on the ground or in a space formed underground, and a large number of vehicles (for example, passenger cars) are stored three-dimensionally. Various methods such as an elevator method, a comb-type elevator method, a vertical circulation method, a multi-layer circulation method, a horizontal circulation method, and a plane reciprocating method are used for the mechanical parking device.

[0003] It has been proposed to use the pallet of these mechanical parking devices as a storage location for goods (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] A mechanical parking device is provided with a landing room where a vehicle (for example, a passenger car) enters and exits (enters or exits), and an entrance / exit door for the vehicle to enter and exit the landing room. When the mechanical parking device operates, it is necessary to confirm that there are no people (for example, children or the elderly) who need to ensure safety remaining. Conventionally, this confirmation has been carried out by detecting foreign objects using a photoelectric sensor or a human sensor, or by visual confirmation by a manager. [[ID=​​​On the other hand, when using pallets in mechanical parking systems as storage areas for luggage, the arrangement of luggage may create blind spots for laser radar and other systems, potentially making it impossible to detect people (such as children) located in these blind spots.

[0007] This invention was devised to solve the problems described above. Specifically, the object of this invention is to provide a method for detecting blind spots inside a warehouse that can detect blind spots caused by the arrangement of goods on a pallet when using a pallet as a storage place for goods. [Means for solving the problem]

[0008] According to the present invention, a mechanical parking system is used which includes an entry / exit room having an entry / exit position which is a fixed position for parking a vehicle, a laser radar device that scans the entire area of ​​a pallet located at the entry / exit position with laser light and detects the coordinates of the reflection position in real time, a pallet on which a trolley can be placed flat, and a data processing device that detects blind spots on the pallet from the coordinates, Each time a trolley is placed flat on the aforementioned pallet, (A) The step of detecting an undetected area on the pallet using the laser radar device, (B) A step of comparing the maximum thickness of the undetected area with a predetermined threshold, and determining that the undetected area is a blind spot if the maximum thickness exceeds the threshold, A method for detecting blind spots inside a storage facility is provided, which includes the step of (C) displaying the determined blind spot area as an image.

[0009] Furthermore, according to the present invention, (A) is, The steps include: scanning the entire area of ​​the pallet located at the boarding / alighting position with multiple laser radar devices to detect the coordinates of the reflection position; The steps include detecting the positions of multiple corners of the trolley from the detected coordinates, The steps include: estimating the arrangement pattern from the aforementioned corner positions; A method for detecting blind spots inside a warehouse is provided, comprising the step of detecting the undetected area on the pallet from the arrangement pattern. [Effects of the Invention]

[0010] According to the present invention, each time a trolley is placed flat on a pallet, an undetected area on the pallet can be detected by a data processing device from coordinates detected by a laser radar device.

[0011] Furthermore, a data processing device detects blind spots from undetected areas. This makes it possible to detect blind spots caused by the arrangement of goods on a pallet when using the pallet as a storage location for goods. [Brief explanation of the drawing]

[0012] [Figure 1] This is a plan view showing an embodiment of a mechanical parking system. [Figure 2] This is a plan view showing a first embodiment of the blind spot detection device inside a storage facility according to the present invention. [Figure 3] This is an overall flowchart of the first embodiment of the method for detecting blind spots inside a storage facility according to the present invention. [Figure 4] This is an explanatory diagram for Figure 3. [Figure 5] This figure shows the arrangement patterns, including undetected areas, when the dimensions of the trolleys are the same. [Figure 6] This figure shows arrangement patterns, including undetected areas, when carts of different dimensions are mixed together. [Figure 7] The first embodiment described above illustrates a case where it is not possible to determine whether or not a trolley is located in the undetected area. [Figure 8] This is a plan view showing a third embodiment of the blind spot detection device inside a storage facility according to the present invention. [Figure 9] This is a plan view showing a fourth embodiment of the blind spot detection device inside a storage facility according to the present invention. [Modes for carrying out the invention]

[0013] Hereinafter, embodiments of the present invention will be described based on the drawings. In the figures, the same reference numerals are given to common parts, and duplicate descriptions will be omitted.

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

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

[0016] The laser radar device 12 horizontally and vertically scans the laser beam 6 without dead angles over the entire inside of the entrance / exit floor 2 to detect the three-dimensional coordinates of the reflection position RP. This detection is preferably in real time. Real time means for each detection cycle of the sensor. The detection cycle is, for example, 100 ms or less, and it is preferably a short time that can surely detect people and animals.

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

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

[0019] In Figure 1(A), the multiple (2) three-dimensional laser radars 12A are positioned with a fixed parking spot for the vehicle in between them. In other words, two or more three-dimensional laser radars 12A are positioned to detect the entire area inside the passenger compartment as a whole. The designated parking spot for the vehicle is set in the center of the passenger compartment 2, and in this example, the pallet 5 on which the vehicle will be placed is located in this designated spot. In this example, the two 3D laser radars 12A are positioned opposite each other, facing the center of the pallet 5, at positions A and B in the diagram. They could also be positioned at positions C and D, or at positions 3 or more.

[0020] Figure 1(C) is a side view of the 3D laser radar 12A. In this figure, the vertical scanning range (vertical scanning angle α) of the laser beam 6 is preferably -5 degrees to +35 degrees with respect to the horizontal (α=0).

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

[0022] In Figure 1(C), the 3D laser radar 12A is installed at a height that prevents the target animal M from entering between it and the floor surface 2c of the passenger compartment 2.

[0023] In this invention, the target animal M is assumed to be a small child (e.g., a 3-year-old) who may be able to move around inside the passenger compartment on their own, but also includes larger humans (e.g., elderly people). In the embodiment described later, the minimum thickness of the target animal M is set to, for example, 300 mm. Therefore, items whose minimum thickness is greater than the minimum thickness of the target animal M (other than vehicles and trolleys) are also included in the target animal M. On the other hand, animals whose minimum thickness is shorter than the minimum thickness of the target animal M (for example, kittens, small birds, etc.) are not included in the target animal M.

[0024] The irradiation height h of the laser beam 6 of the 3D laser radar 12A is set to a height lower than the minimum height of the target animal M (for example, 200 mm). This configuration allows for reliable detection of target animals M (children and the elderly) within the irradiation range of the 3D laser radar 12A.

[0025] Furthermore, in Figure 1(A), the two 3D laser radars 12A are installed in a position where the target animal M cannot enter between them and the inner wall of the passenger compartment 2 (for example, 200 mm from the inner wall). This configuration prevents the target animal M from entering the area behind the 3D laser radar 12A. Furthermore, intrusion prevention measures (for example, a partition wall) may be installed on the back of the 3D laser radar 12A to prevent the target animal M from entering.

[0026] In Figure 1(A), the data processing device 14 is, for example, a computer (PC), and detects the target animal M from the detection data d of the laser radar device 12. The data processing device 14 includes an input device 14a, an output device 14b, a storage device 14c, and an arithmetic unit 14d. The data processing device 14 stores the unoccupied data d1, which is the detection data d when the target animal M is not present inside the passenger compartment 2, in the storage device 14c. Furthermore, when a vehicle leaves the depot, the data processing device 14 removes unmanned data d1 from the detection data d of the laser radar device 12 and detects the remaining detected object as the target animal M. Furthermore, when a vehicle enters the parking area, the data processing device 14 removes unmanned data d1 and vehicle detection data d2 included in the detection data d from the laser radar device 12, and detects the remaining detected object as the target animal M. The vehicle detection data d2 can be stored when the vehicle is positioned in a fixed location upon entering the parking area.

[0027] With the configuration described above, the laser radar device 12 of the mechanical parking system 100 detects and stores unoccupied data d1 in advance when the target animal M is not present inside the passenger compartment 2. Therefore, the unoccupied data d1 includes positional data (e.g., 3D coordinates) of the walls, pillars, equipment, etc., throughout the entire interior of the passenger compartment 2 when the target animal M is not present.

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

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

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

[0031] The following explains how to use pallet 5 as a storage area for goods.

[0032] (First Embodiment) Figure 2 is a plan view showing a first embodiment of the blind spot detection device 10 inside a storage facility according to the present invention. In this figure, the in-cabin blind spot detection device 10 comprises the mechanical parking device 100 described above and a plurality of trolleys 20.

[0033] The mechanical parking system 100 includes the aforementioned passenger entry / exit compartment 2, laser radar device 12, and data processing device 14. The passenger compartment 2 has a passenger boarding / alighting position. An empty pallet 5 is positioned horizontally at this passenger boarding / alighting position when the trolley 20 is brought in. The laser radar device 12 scans the entire area of ​​the pallet located at the boarding / alighting position of the passenger compartment 2 with laser light 6 and detects the three-dimensional coordinates of the reflection position. In this example, the detection distance of the three-dimensional laser radar 12A should be a distance that allows the laser light 6 to be scanned over the entire area of ​​the pallet. The data processing device 14 detects the blind spot area BC on the palette from the detected 3D coordinates. The algorithm for detecting the blind spot area will be described later.

[0034] The trolley 20 has a rectangular parallelepiped shape overall, has a predetermined trolley width CB and trolley length CL, and is configured to be laid flat on a pallet. The overall height of the trolley 20 does not need to be greater than or equal to the overall height of the vehicle to be stored in the mechanical parking device 100. The dimensions of the trolley 20 are not limited to one type, but may be multiple types. The trolley 20 is preferably a wheeled cage trolley, for example. The minimum height of the cage trolley is set so that the target animal M, which requires safety precautions, cannot enter underneath the trolley (for example, 100 mm or less). Furthermore, the trolley 20 has a cover or curtain that reflects laser light 6 so that the position of its outer surface can be reliably detected by the laser radar device 12.

[0035] The loading area of ​​the trolley on the pallet is set to be less than the loading area of ​​the vehicle. For example, the total width of the trolley's loading area is 1800 mm or less, and the total length is 5000 mm or less. In this case, if the gap between bogies is 100 mm or less, the bogie width CB is, for example, approximately 1800 mm, approximately 850 mm, or approximately 550 mm, and the bogie length CL is, for example, approximately 5000 mm, approximately 2450 mm, approximately 1600 mm, or approximately 1200 mm.

[0036] Figure 3 is an overall flowchart of the first embodiment of the blind spot detection method inside a storage facility according to the present invention, and Figure 4 is an explanatory diagram of Figure 3. In Figure 3, the method for detecting blind spots inside a storage facility according to the present invention uses the storage facility blind spot detection device 10 described above and has steps (processes) S1 to S11.

[0037] In step S1, the trolley 20 is placed flat on an empty pallet (see Figure 4(A)). This flat placement operation is preferably performed by a transport robot (not shown), but may also be performed by a person (e.g., a transporter). In step S1, when multiple trolleys 20 are placed flat on a single pallet, it is preferable to keep the gap between adjacent trolleys below a predetermined maximum gap. The maximum gap is preferably set to a value smaller than the minimum thickness in a plan view of an animal M (e.g., a 3-year-old child) that requires safety assurance (e.g., a 3-year-old child). This configuration prevents the target animal M (for example, a 3-year-old child) from hiding in the gap between adjacent carts. In this invention, the gap between the trolleys is not limited to the maximum gap or less, and may exceed the maximum gap due to human error (e.g., by a transporter).

[0038] In step S2, multiple laser radar devices 12 scan the entire pallet area located at the boarding / alighting position with laser light 6 to detect the three-dimensional coordinates of the reflection position RP (see Figure 4(B)). In step S3, the positions CP of multiple corners of the trolley 20 are detected from the detected 3D coordinates (see Figure 4(C)). In step S4, the arrangement pattern AP is estimated from the corner position CP based on the pre-set bogie width CB and bogie length CL (see Figure 4(D)). In step S5, the undetected area BA on the pallet is detected from the placement pattern AP (see Figure 4(E)).

[0039] In step S6, the maximum thickness BAb of the undetected region BA in a plan view is calculated. The maximum thickness BAb refers to the length of the shorter side of the rectangle surrounding the undetected region BA. In step S7, the maximum thickness BAb of the undetected region BA in a plan view is compared with a threshold X. The threshold X is set to a value smaller than the minimum thickness in a plan view of a target animal M (e.g., a 3-year-old child) that requires safety assurance (e.g., a 3-year-old child). The minimum thickness of the target animal M refers to the length of the shorter side of the rectangle surrounding the target animal M in a plan view.

[0040] In step S7, if the maximum thickness BAb exceeds the threshold X (YES), then in step S8, the undetected area BA is determined to be a blind spot area BC. In step S9, an alarm is issued. The alarm can be displayed on the control panel, a display device installed for logistics, a mobile terminal, a warning light, or an audible notification.

[0041] In step S10, an image is displayed on the display device (image display). This image should preferably be the arrangement pattern AP including the undetected area BA (see Figure 4(E)), or the modified arrangement pattern AP to eliminate the blind spot area BC (see Figure 4(F)). The modified arrangement pattern AP can be set by moving a portion of the trolley 20 from the arrangement pattern AP that includes the undetected area BA to the undetected area BA.

[0042] After step S10, the process returns to step S1, and the trolley 20 is repositioned by a transport robot or a person (e.g., a transporter). On the other hand, in step S7, if the maximum thickness BAb is less than or equal to the threshold X (NO), in step S11, it is determined that there is no blind spot area, and the blind spot detection method inside the storage unit of the present invention is terminated.

[0043] It is preferable to carry out each of the steps S1 to S11 described above with the entrance door 3 fully open. In this case, the laser beam 6 used should be one that ensures safety for people.

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

[0045] As mentioned above, if the gap between adjacent bogies is set to less than or equal to the preset maximum gap in step S1, the occurrence of undetected areas BA can be suppressed in (E), (F), (H), (J) to (L) of Figure 5.

[0046] Figure 6 shows the arrangement pattern AP, including the undetected area BA, when trolleys 20 of different dimensions are mixed together. In step S1, if the gap between adjacent bogies is set to less than or equal to a preset maximum gap, the occurrence of undetected areas BA in Figure 6 (B), (D), (E), (G), and (H) can be suppressed.

[0047] (Second Embodiment) Figure 7 illustrates a case in which the presence or absence of the trolley 20 located in the undetected area BA cannot be determined using the method of the first embodiment described above. For example, in examples (A) to (C), if the trolley 20 shown by the dashed line is located in the undetected area BA, the method of the first embodiment will result in a false detection, determining that the area is a blind spot BC, even though the maximum thickness BAb of the undetected area BA is small and there is no blind spot area BC. Furthermore, in example (D), the method of the first embodiment cannot determine whether or not there is a trolley 20 in the central area surrounded by the trolleys 20. Therefore, if the central area is not determined to be a blind spot area BC, there is a possibility that a target animal M (for example, a 3-year-old child) that requires safety assurance may be hiding in the central area.

[0048] To solve this problem, in the second embodiment, the dimensions and quantity of the trolleys 20 on the pallet are stored in advance, and the presence or absence of trolleys 20 located in the undetected area BA is determined. In other words, after estimating the arrangement pattern AP in step S4 described above, the presence or absence of a trolley 20 located in the undetected area BA is determined by comparing it with the dimensions and quantity of trolleys 20 that have been stored in advance. This configuration allows for the determination of whether or not the trolley 20, indicated by the dashed line, is present, even in cases (A) to (D) of Figure 7, thereby reducing false detections and enhancing safety.

[0049] (Third embodiment) Figure 8 is a plan view showing a third embodiment of the blind spot detection device 10 inside a storage room according to the present invention. In this example, the warehouse blind spot detection device 10 includes a pallet swivel device 16 that horizontally rotates the pallet 5 at the boarding / alighting position. In this figure, (A) is the same state as in Figure 4(A), (B) is the state rotated 45 degrees to the right from (A), (C) is the state rotated 90 degrees, and (D) is the state rotated 180 degrees to the right.

[0050] In this embodiment, the pallet 5 is rotated horizontally, and the three-dimensional coordinates of the trolley 20 are obtained at multiple rotation positions. Next, the maximum thickness BAb of the undetected area BA in a plan view is calculated at multiple rotation positions, and the minimum value among them is compared with a threshold X. If this minimum value exceeds the threshold X, the undetected area BA is determined to be a blind spot area BC. In other words, among the multiple undetected regions BA obtained at multiple rotational positions, the minimum value of the maximum thickness BAb is compared with a threshold X.

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

[0052] This configuration minimizes the undetected area BA, as illustrated in Figure 8(B), and reduces the detection rate of the blind spot area BC. Furthermore, in this embodiment, the number of laser radar devices 12 required can be minimized (to only one). The turning position only needs to be 2 or more. If there is only one laser radar device 12, the horizontal rotation angle should be performed by one full rotation (360 degrees), and it is preferable to detect the undetected area BA at two or more rotation positions. If there are two or more laser radar devices 12, the horizontal rotation angle may be half a rotation (180 degrees) or less.

[0053] (Fourth Embodiment) Figure 9 is a plan view showing a fourth embodiment of the blind spot detection device 10 inside a storage room according to the present invention. In this example, as shown in (A), the trolley loading area on the pallet is virtually divided into multiple blocks 8 with widths and lengths below a threshold. The threshold X is set to a value smaller than the minimum thickness in a plan view of a target animal M (e.g., a 3-year-old child) that requires safety assurance (e.g., a 3-year-old child). For example, if the trolley loading area is 1800mm in width and 5000mm in length, then one block of 8 would be 300mm x 300mm, and it would be divided into 96 blocks (6 x 16).

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

[0055] (Fifth embodiment) In the embodiment described above, after all the trolleys 20 are laid flat on the pallet in step S1, the laser beam 6 is irradiated in step S2. Alternatively, steps S2 to S11 of the first embodiment may be performed each time a trolley 20 is placed flat on the pallet to detect the presence or absence of a blind spot area BC. In this case, it is preferable to use a laser beam 6 that ensures safety for people, and to carry out each of the steps S1 to S11 described above with the entrance door 3 fully open.

[0056] This method allows for the system to correct the trolley's position each time a trolley 20 is placed flat, by issuing an alarm in step S9 if there is a blind spot area BC. Furthermore, in response to an alarm (warning), it is advisable to either input that the worker has confirmed the blind spot area BC during safety checks, or to display a configuration in step S10 that eliminates the blind spot area BC to the worker.

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

[0058] Furthermore, the data processing device 14 detects the blind spot area BC from the undetected area BA. For example, the maximum thickness BAb of the undetected area BA in a plan view is calculated, and this maximum thickness BAb is compared with a threshold X. If the maximum thickness BAb exceeds the threshold X, the undetected area BA is determined to be a blind spot area BC. This makes it possible to detect blind spots BC caused by the arrangement of luggage inside the passenger compartment when using pallet 5 as a luggage storage area.

[0059] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention. [Explanation of Symbols]

[0060] AP placement pattern, BA undetected area, BAb maximum thickness, BC blind spot area, CB bogie width, CP corner position, CL bogie length, d: Detection data, d1: Unmanned data, d2: Vehicle detection data, M: Target animal, RP: Reflection location, X: Threshold, 2 passenger compartment, 2a wall, 2b entrance / exit, 2c floor, 3 entrance / exit door, 5 pallets, 6 laser beams, 8 blocks, 10 blind spot detection devices inside the storage area. 12 Laser radar system, 12A 3D laser radar, 14 Data processing device, 14a Input device, 14b Output device, 14c Memory device, 14d Agricultural machine, 16 Pallet rotation device, 20 trolleys, 100 mechanical parking systems

Claims

1. A mechanical parking system comprising: an entry / exit compartment having an entry / exit position which is a fixed parking spot for vehicles; a laser radar device that scans the entire area of ​​a pallet located at the entry / exit position with laser light and detects the coordinates of the reflection position in real time; a pallet on which a trolley can be placed flat; and a data processing device that detects blind spots on the pallet from the coordinates, Each time a trolley is placed flat on the aforementioned pallet, (A) The step of detecting an undetected area on the pallet using the laser radar device, (B) A step of comparing the maximum thickness of the undetected area with a predetermined threshold, and determining that the undetected area is a blind spot if the maximum thickness exceeds the threshold, (C) A method for detecting blind spots inside a storage facility, comprising the step of displaying the determined blind spot area as an image.

2. The above (A) is, The steps include: scanning the entire area of ​​the pallet located at the boarding / alighting position with multiple laser radar devices to detect the coordinates of the reflection position; The steps include detecting the positions of multiple corners of the trolley from the detected coordinates, The steps include: estimating the arrangement pattern from the aforementioned corner positions; A method for detecting blind spots inside a warehouse according to claim 1, comprising the step of detecting the undetected area on the pallet from the arrangement pattern.

3. The method for detecting blind spots inside a storage facility according to claim 1 or 2, wherein the laser radar device has a horizontally set vertical scanning range for the laser beam.

4. The method for detecting blind spots inside a warehouse according to claim 1 or 2, further comprising a pallet swivel device for horizontally swiveling the pallet at the boarding / alighting position, wherein the undetected area is determined to be the blind spot area when the pallet is swiveled horizontally.

5. The method for detecting blind spots inside a warehouse according to claim 4, wherein one of the trolleys is arranged in the width direction of the pallet.

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