FORKLIFT

• US 20170285644A1
• Filed: 03/28/2017
• Published: 10/05/2017
• Est. Priority Date: 03/30/2016
• Status: Abandoned Application

• Current Assignee: Kabushiki Kaisha Toyota Jidoshokki (Toyota Motor Corporation)
• Original Assignee: Kabushiki Kaisha Toyota Jidoshokki (Toyota Motor Corporation)
• Inventors: ICHINOSE, Makoto, TANAKA, Minoru, TSUSAKA, Yuuji, FUJII, Akinobu
• Application Number:
  US15/471,107
• Publication Number:
  US 20170285644A1
• Time in Patent Office: Days
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

A forklift capable of carrying a load placed on a pallet having two openings into which a fork of the forklift is inserted is provided. The forklift includes a sensor configured to irradiate laser light toward a predetermined space forward of the fork, and measure a distance from the sensor to an object located in the predetermined space based on reflected light of the laser light reflected by the object; and a processor configured to identify positions of sidewalls of the two openings of the pallet that is to be lifted based on distance data measured by the sensor, the processor being further configured to identify a center of a front surface of the pallet based on the positions of the sidewalls of the two openings.

Claims

1. A forklift capable of carrying a load placed on a pallet having two openings into which a fork of the forklift is inserted, the forklift comprising:

a sensor configured to irradiate laser light toward a predetermined space forward of the fork, and measure a distance from the sensor to an object located in the predetermined space based on reflected light of the laser light reflected by the object; and

a processor configured to identify positions of sidewalls of the two openings of the pallet that is to be lifted based on distance data measured by the sensor, the processor being further configured to identify a center of a front surface of the pallet based on the positions of the sidewalls of the two openings.

2. The forklift according to claim 1, wherein

the processor is further configured to extract only distance data of the front surface of the pallet from the distance data measured by the sensor, and identify the center of and a direction of the front surface of the pallet based on the positions of the sidewalls of the two openings identified by the extracted distance data.

3. The forklift according to claim 1, further comprising

a movement mechanism configured to move the fork in a first direction;

wherein

the sensor is provided on the fork and is configured to scan laser light in a second direction orthogonal to the first direction, and move along with the fork by the movement mechanism.

4. The forklift according to claim 3, wherein

the processor is further configured to perform:

(1) measuring distance data by scanning laser light in the second direction with the fork set at a predetermined position of the first direction;

(2) in a case where the positions of the sidewalls of the two openings of the pallet cannot be identified based on the measured distance data, moving the fork a predetermined distance in the first direction to a position, and measuring distance data at the position by scanning laser light in the second direction; and

(3) repeating the moving and measuring of (2) until the positions of the sidewalls of the two openings of the pallet can be identified.