JP-7855381-B2 - Cargo picking determination device, cargo handling vehicle, and program

Inventors

• 小島 宏志
• 竹内 郷志
• 日南 敦史
• 鈴木 雄士

Assignees

• 住友重機械搬送システム株式会社
• 住友ナコ フォ－クリフト株式会社

Dates

Publication Date

20260508

Application Date

20220328

Claims (6)

1. A measuring means capable of acquiring distance information to a loading platform having a hole in the front, A detection means that determines the front detection line that detected the front surface based on the distance information acquired by the measurement means, An estimation means for determining a hole estimation line by estimating the position of the hole relative to the front surface detection line based on the positional relationship between the front surface and the hole, A determination means for determining interference between the claw portion inserted into the hole and the hole, based on the hole estimation line, Equipped with , The estimation means is, Based on the distance information, the opening end of the hole on the front detection line is determined. The hole estimation line is determined as a line that passes through the open end of the hole and is perpendicular to the front detection line. Cargo acceptance judgment device.
2. The system includes a storage means for pre-storing numerical information about the width of the hole, The estimation means determines the position of the hole estimation line on the front detection line based on the numerical information of the width. The cargo handling determination device according to claim 1 .
3. The measuring means is a two-dimensional distance sensor having a planar measuring area along the width direction of the loading platform. A load handling determination device according to claim 1 or claim 2 .
4. The system includes a notification means that notifies the determination result that the claw portion and the hole portion interfere with each other , when the determination means determines that the claw portion and the hole portion interfere with each other . A load handling determination device according to any one of claims 1 to 3 .
5. A load picking determination device according to any one of claims 1 to 4 , A vehicle body that is capable of driving, The fork, which is a claw portion, is provided on the vehicle body so as to be able to move up and down, and is inserted into the hole to hold the loading platform, A cargo handling vehicle equipped with the following features.
6. A computer for a cargo handling determination device equipped with a measuring means capable of acquiring distance information to a loading platform having a hole in the front, A detection means that determines the front detection line detected on the front surface based on the distance information acquired by the measurement means, Estimation means for determining a hole estimation line by estimating the position of the hole relative to the front detection line, based on the positional relationship between the front surface and the hole. A determination means for determining interference between the claw portion inserted into the hole and the hole, based on the hole estimation line. To make it function as , The estimation means is, Based on the distance information, the opening end of the hole on the front detection line is determined. The hole estimation line is determined as a line that passes through the open end of the hole and is perpendicular to the front detection line. program.

Description

This invention relates to a cargo handling determination device, a cargo handling vehicle, and a program. When transporting pallets (loading platforms) with a forklift or other material handling vehicle, the forks (tines) are inserted into the pockets of the pallet and then lifted up. When picking up a pallet, if, for example, the vehicle body is not directly facing the pallet, the forks may interfere with the entrance or inner wall of the pocket. Such interference between the forks and the pallet can reduce work efficiency by preventing the pallet from being held or by damaging it. Therefore, in the technology described in Patent Document 1, for example, a laser sensor is used to acquire distance data to the front of the pallet, and the position of the inner wall (side wall) of the pocket is determined based on the acquired distance data. Japanese Patent Publication No. 2017-178567 This is a side view of a forklift according to an embodiment.This is a block diagram showing a schematic control configuration of a forklift according to an embodiment.This is a flowchart showing the flow of the cargo pickup determination process according to the embodiment.This is a diagram illustrating the cargo handling determination process according to the embodiment.This is a diagram illustrating the cargo handling determination process according to the embodiment.This is a diagram illustrating the cargo handling determination process according to the embodiment.This is a diagram showing a four-sided pallet.This diagram illustrates how to handle situations where there are obstacles in front of or behind a pallet.This diagram illustrates how to handle situations where there are obstacles in front of or behind a pallet. The embodiments of the present invention will be described in detail below with reference to the drawings. [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 unloading and transporting pallets 30 (or cargo L placed thereon). 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). Specifically, the forklift 1's body 10 comprises a vehicle body 11, forks (tines) 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 drive source (not shown) to tilt forward and backward relative to the vehicle body 11. The lifting body 13 is driven by a drive 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, as well as move forward and backward, due to the drive of the mast 14 and the lifting body 13, etc. 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 pockets (holes) 32 into which a pair of forks 12 are inserted. 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 load picking determination device according to the present invention includes a laser scanner 24 and a control unit 27. The drive unit 21 includes the various drive sources for the forklift 1: a travel motor, a steering motor, and a load 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 load handling motor is the drive source for the raising and lowering of the lifting body 13 and the tilting of the mast 14. 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 serves 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 i