Fork-Lift Truck

• US 20160090283A1
• Filed: 09/22/2015
• Published: 03/31/2016
• Est. Priority Date: 09/25/2014
• Status: Abandoned Application

• Current Assignee: BT Products AB (Toyota Motor Corporation)
• Original Assignee: BT Products AB (Toyota Motor Corporation)
• Inventors: Persson, Magnus, Svensson, Rune, Frid, Hakan
• Application Number:
  US14/861,294
• Publication Number:
  US 20160090283A1
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/14 laterally movable, e.g. swingable, for slewing or transverse movements
• CPC Class Codes: B66F 9/24 Electrical devices or systems
• CPC Class Codes: G05D 1/0253 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow determining position or orientation from images G06T7/70
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: H04N 13/204 using stereoscopic image cameras stereoscopic photography G03B35/00

Abstract

A fork-lift truck 1, 1′ including a load carrier 2, an optical detector 3, 3′ having a first field of view and arranged to provide an output, wherein the optical detector 3, 3′ is movable together with the load carrier 2, an optical analysing unit 4, 4′ arranged to analyse the output from said optical detector 3, 3′. The optical analysing unit 4, 4′ is arranged to analyse the output from the optical detector 3, 3′ so as to identify a first three-dimensional object, said first three-dimensional object being the load carrier 2, and a second three-dimensional object based on the output from the optical detector 3, 3′, and to determine the three-dimensional position of the identified load carrier 2 relative to the identified second three-dimensional object. Further a method for operating a fork-lift truck, a method for modifying a fork-lift truck and a computer program product.

Claims

1. A fork-lift truck comprising;

a load carrier;

an optical detector having a first field of view and providing an output, wherein the optical detector is movable together with the load carrier;

an optical analysing unit analyzing the output from said optical detector to identify a first three-dimensional object, said first three-dimensional object being the load carrier, and a second three-dimensional object based on the output from the optical detector, and to determine the three-dimensional position of the identified load carrier relative to the identified second three-dimensional object.

2. The fork-lift truck according to claim 1, wherein said optical detector is a 3D camera arranged to output three-dimensional data.

3. The fork-lift truck according to claim 1, wherein the optical analysing unit is integrated into the optical detector.

4. The fork-lift truck according to claim 1, wherein the optical analysing unit is comprised within a master control unit of the fork-lift truck.

5. The fork-lift truck according to claim 1, wherein said load carrier includes at least one fork.

6. The fork-lift truck according to claim 1, wherein the optical detector is positioned on a rear part of the load carrier adjacent to a mast or a fork-lift truck body of the fork-lift truck.

7. The fork-lift truck according to claim 1, further comprising a load carrier control unit operatively connected to the optical analysing unit and arranged to adjust the position of the load carrier based on the determined three-dimensional position of the identified load carrier relative to the identified second three-dimensional object.

8. The fork-lift truck according to claim 7, wherein the load carrier control unit adjusts the position of the load carrier in all three-dimensions if needed, preferably in a direction that is transversal to the fork-lift truck body and/or in the longitudinal direction and/or the height direction relative to said second three-dimensional object.

9. The fork-lift truck according to claim 7, wherein the load carrier control unit (5) is comprised within a master control unit (6) of the fork-lift truck.

10. The fork-lift truck according to claim 1, wherein the second three-dimensional object is a load.

11. The fork-lift truck according to claim 10, wherein the optical analysing unit is arranged to identify a predetermined section of the load, such as a pallet and/or at least one pallet tunnel.

12. The fork-lift truck according to claim 1, wherein the optical detector is movable in relation to the load carrier between a first position and/or orientation with the first field of view and a second position and/or orientation with a second field of view, where the second field of view includes a space above the second three-dimensional object such that in the second field of view objects can be detected which are outside the first field of view, or, alternatively, the first field of view includes a space above the second three-dimensional object and wherein the position of the load carrier is detectable in the first field of view when the second three-dimensional object is not present on the load carrier.

19. A method of modifying a fork-lift truck comprising the steps of

providing a fork-lift truck;

providing an optical detector;

providing an optical analysing unit; and

applying the optical detector and said optical analysing unit to said forklift truck such that a forklift truck according to claim 1 is provided.

13. A method of operating a fork-lift truck, said fork-lift truck including an optical detector having a first field of view, said method comprising the steps of:

obtaining an output from the optical detector;

identifying a first three-dimensional object in said field of view of the optical detector and determining its position, said first three-dimensional object being a load carrier of the fork-lift truck, based on the output from the optical detector;

identifying a second three-dimensional object in said field of view of the optical detector and determining its position based on the output from the optical detector; and

determining a three-dimensional relative position of the identified second three-dimensional object in relation to the position of the identified load carrier based on the determined position of the load carrier and the determined position of the second three-dimensional object.

14. The method according to claim 13, wherein the output from the optical detector is received by at least one optical analysing unit, wherein a predetermined volume is within said first field of view of the optical detector, and where a search is performed by said at least one optical analysing unit within said predetermined volume so as to identify said load carrier and/or second three-dimensional object and so as to determine the position of said load carrier and/or second three-dimensional object.

15. The method according to claim 13, wherein the output from the optical detector is received by at least one optical analysing unit, wherein a first predetermined volume is within said first field of view of the optical detector and where a search is performed by said at least one optical analysing unit within said first predetermined volume so as to identify said load carrier and so as to determine the position of said load carrier, and

wherein a second predetermined volume is within said first field of view of the optical detector and where a search is performed by said at least one optical analysing unit within said second predetermined volume so as to identify said second three-dimensional object and so as to determine the position of said second three-dimensional object.

16. The method according to claim 13 including the steps of

calculating a difference between said determined three-dimensional relative position of the identified second three-dimensional object and a predetermined three-dimensional relative position of the identified second three-dimensional object;

applying the calculated difference to a load carrier control unit; and

repositioning the load carrier based on the calculated difference through the load control unit.

17. The method of operating a fork-lift truck (1′

) according to claim 13, wherein the optical detector is movable in relation to the load carrier between a first position and/or orientation with the first field of view and a second position and/or orientation with a second field of view, such that in the second field of view objects can be detected which are outside the first field of view, or the first field of view includes a space above the second three-dimensional object and wherein the position of the load carrier is detectable when the second three-dimensional object is not present on the load carrier, said method further comprising the steps of;

starting a lifting procedure of the load carrier and during the lifting procedure detect within the second field of view, or the first field of view including the space above the second three-dimensional object, by the optical detector whether any object protrudes in the lifting path such that it can collide with the load carrier or the load; and

if a protruding object is detected, taking measures and/or alarming in order to prevent a collision.

18. The method of operating a fork-lift truck according to claim 13, wherein the optical detector is arranged to be movable in relation to the load carrier (2) between a first position and/or orientation with the first field of view and a second position and/or orientation with a second field of view, such that in the second field of view objects can be detected which are outside the first field of view, or, alternatively, the first field of view includes a space above the second three-dimensional object and wherein the position of the load carrier is detectable when the second three-dimensional object is not present on the load carrier, said method further comprising the steps of:

approaching a predetermined position where a load is to be delivered;

optionally attaining the second position and/or orientation with the second field of view by the optical detector;

detecting a slot where the load is to be delivered within the second field of view or the first field of view including the space above the second three-dimensional object;

determining by means of said at least optical analysing unit whether the slot allows delivering or not depending on if the slot is empty, contains a load, or there are other obstructing means in this slot; and

if it is determined in the previous step to allow delivery, providing a visual indication or positioning the cargo in the empty slot.

20. A computer program product that, when executed in an optical analysing unit of a fork-lift truck or an optical analysing unit together with a load carrier control unit of a fork lift truck, executes the method according to claim 13.