×

Autonomous vehicle, and object recognizing method in autonomous vehicle

  • US 9,635,346 B2
  • Filed: 03/03/2015
  • Issued: 04/25/2017
  • Est. Priority Date: 05/27/2014
  • Status: Active Grant
First Claim
Patent Images

1. An unmanned forklift comprising:

  • a pair of forks disposed on a front surface of the unmanned forklift for insertion into a pallet that includes inserting ports;

    a travel vehicle main body that autonomously travels to a target position based on travel control information;

    a model data storage that stores model data related to a geometric feature of the pallet;

    a photographic device that photographs a periphery of the travel vehicle main body at the target position to acquire image data; and

    a controller;

    whereinthe controller receives the travel control information including a travel path from a current position to the target position and a position information of the pallet;

    the controller calculates current self-posture information of the unmanned forklift based on the travel control information;

    the controller predicts a position of the pallet in a warehouse based on the image data, and determines a search region of a predetermined range that corresponds to a portion of the warehouse that includes the predicted position of the pallet within the warehouse based on the position information of the pallet and the current self-posture information;

    the controller detects a feature point of the image data with respect to the search region;

    the controller calculates a feature amount of a matching candidate point which is extracted from the feature point; and

    the controller matches the feature amount of the matching candidate point with the model data to recognize the position of the pallet based on the image data.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×