Automated Forklift Side-Shift Control Using Laser Point Cloud Analysis
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Solution Overview
Problem
Unmanned guided vehicles face challenges in detecting contact with surrounding objects during cargo loading in narrow spaces, as they lack visual recognition capabilities.
Innovation Solution
A transport vehicle equipped with a cargo loading unit, side shift unit, point group acquisition unit, edge specifying unit, and side shift controller, which uses laser irradiation and frequency distribution analysis to determine the positional relationship between the cargo and the vehicle, allowing for precise side-shifting and preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If an unmanned guided vehicle is used for cargo handling, then automation is improved, but the ability to detect contact with surrounding objects deteriorates
Solution Approach 1:
The patent replaces the mechanical visual recognition system (human operator) with an optical sensing system (laser scanner/LiDAR). The laser scanner emits laser beams to detect the position of the cargo loading unit and surrounding objects, converting mechanical detection into optical field detection. This substitution enables automated contact detection without requiring human visual input.
Solution Approach 2:
The patent introduces a laser scanner as an intermediary device between the unmanned vehicle and the environment. The laser scanner acts as a mediator that captures spatial information about the cargo loading unit and surrounding objects, translating physical space into detectable signal data that the control system can process for automated decision-making.
2Manufacturing precision
If the cargo loading unit is side-shifted to improve cargo alignment, then positioning precision is improved, but the risk of collision with surrounding objects increases
Solution Approach 1:
The patent implements a feedback control system where the laser scanner continuously monitors the position of the cargo loading unit and surrounding objects during side-shifting operations. The detection results are fed back to the control unit, which adjusts the side-shifting speed and stopping position in real-time. This closed-loop feedback enables precise cargo alignment while preventing collisions by stopping the side-shifting when the predetermined distance to surrounding objects is reached.
Solution Approach 2:
The patent employs dynamic control of the side-shifting operation, adjusting the shifting speed and stopping criteria based on real-time detection data. The system dynamically modifies the side-shifting parameters during operation, slowing down when approaching surrounding objects and stopping when the safety distance is reached, rather than using fixed predetermined shifting parameters.
3Difficulty of detecting and measuring
If the laser scanner is positioned to irradiate the cargo loading position, then object detection capability is improved, but the device complexity increases
Solution Approach 1:
The patent designs the laser scanner to perform multiple functions: detecting the position of the cargo loading unit, detecting surrounding objects, calculating distances, and providing data for both alignment and collision prevention. By making the laser scanner a multi-functional component, the system avoids adding separate sensors for each function, thereby reducing overall device complexity while maintaining comprehensive detection capability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the vehicle to accurately side-shift the cargo loading unit to avoid collisions and ensure proper alignment during cargo loading, even in tight spaces, by analyzing the positional relationship and distance between the cargo and surrounding objects using LiDAR sensors and frequency distribution analysis.
Implementation Method 1
a point group acquisition unit that acquires a point group by horizontally irradiating cargo loaded on the cargo loading unit with a laser
Data Source
AI summary
A transport vehicle capable of side-shifting a cargo loading unit while referring to the positional relationship of cargo with respect to the cargo loading unit is provided. The transport vehicle 1 includes: forks 16; a side shift unit 19 that side-shifts the forks 16; a point group acquisition unit 22 that acquires a point group by horizontally irradiating cargo loaded on the forks 16 with a laser; an edge specifying unit that specifies a position of an edge of the cargo based on the acquired point group; a cargo position specifying unit; and a side shift controller that controls a side shift amount of the side shift unit 19. The cargo position specifying unit detects whether the positional relationship of the cargo with respect to the forks 16 changes based on the specified position of the edge of the cargo when the forks 16 are side-shifted.