Forklift truck and method of operating the same
First Claim
1. A forklift truck that is configured for placing on a first load a second load, comprising:
- a pair of forks for holding the second load;
an actuator for raising and lowering the forks;
a two-dimensional rangefinder having an emitting source configured to emit a measurement wave in a downwardly inclined direction from above and toward the first load, the two-dimensional rangefinder being configured to measure a distance between the emitting source and a measurement point which is located on a surface of the first load and at which the measurement wave is incident;
a mover device that is configured to move the two-dimensional rangefinder so that the measurement point moves in a longitudinal direction in which the first load and the forklift truck carrying the second load face each other;
a calculator configured to calculate a longitudinal distance between the emitting source and the measurement point based on the distance measured by the two-dimensional rangefinder; and
a determiner configured to determine that the first load is in a condition in which there is a level difference between a front part and a rear part of an upper surface of the first load, and the front part is higher than the rear part, when a variation in the longitudinal distance that is generated in response to a displacement of the two-dimensional rangefinder moved by the mover device exceeds an upper limit of a specified threshold range;
wherein the upper limit of the specified threshold range is a value obtained by adding a margin to a displacement of the measurement point.
1 Assignment
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Accused Products
Abstract
A forklift truck includes a two-dimensional rangefinder, a mover device, a calculator, and a determiner. The two-dimensional rangefinder emits a measurement wave in a downwardly inclined direction from above and toward a first load and measures a distance to a measurement point located on a surface of the first load. The mover device moves the two-dimensional rangefinder. The calculator calculates a longitudinal distance between the emitting source and the measurement point. The determiner determines that the first load is in a condition in which there is a level difference between a front part and a rear part of an upper surface of the first load, and the front part is higher than the rear part, when a variation in the longitudinal distance that is generated in response to a displacement of the two-dimensional rangefinder moved by the mover device exceeds an upper limit of a specified threshold range.
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Citations
7 Claims
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1. A forklift truck that is configured for placing on a first load a second load, comprising:
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a pair of forks for holding the second load; an actuator for raising and lowering the forks; a two-dimensional rangefinder having an emitting source configured to emit a measurement wave in a downwardly inclined direction from above and toward the first load, the two-dimensional rangefinder being configured to measure a distance between the emitting source and a measurement point which is located on a surface of the first load and at which the measurement wave is incident; a mover device that is configured to move the two-dimensional rangefinder so that the measurement point moves in a longitudinal direction in which the first load and the forklift truck carrying the second load face each other; a calculator configured to calculate a longitudinal distance between the emitting source and the measurement point based on the distance measured by the two-dimensional rangefinder; and a determiner configured to determine that the first load is in a condition in which there is a level difference between a front part and a rear part of an upper surface of the first load, and the front part is higher than the rear part, when a variation in the longitudinal distance that is generated in response to a displacement of the two-dimensional rangefinder moved by the mover device exceeds an upper limit of a specified threshold range; wherein the upper limit of the specified threshold range is a value obtained by adding a margin to a displacement of the measurement point. - View Dependent Claims (2, 3, 4)
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5. A method of operating a forklift truck in connection with placing a second load onto a first load, the method comprising the steps of:
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holding the second load by means of a pair of forks of the forklift truck; operating an emitting source of a two-dimensional rangefinder of the forklift truck to emit a measurement wave in a downwardly inclined direction from above and toward the first load, and measuring a distance between the emitting source and a measurement point which is located on a surface of the first load and at which the measurement wave is incident; moving the two-dimensional rangefinder so that the measurement point moves in a longitudinal direction in which the first load and the forklift truck carrying the second load face each other; calculating a longitudinal distance between the emitting source and the measurement point based on the distance measured by the two-dimensional rangefinder; and determining that the first load is in a condition in which there is a level difference between a front part and a rear part of an upper surface of the first load, and the front part is higher than the rear part, when a variation in the longitudinal distance that is generated in response to the displacement of the two-dimensional rangefinder exceeds an upper limit of a specified threshold range; wherein the upper limit of the specified threshold range is a value obtained by adding a margin to a displacement of the measurement point. - View Dependent Claims (6, 7)
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Specification