Forklift truck and method of operating the same

• US 10,377,613 B2
• Filed: 10/13/2017
• Issued: 08/13/2019
• Est. Priority Date: 10/14/2016
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Toyota Jidoshokki
• Original Assignee: Kabushiki Kaisha Toyota Jidoshokki
• Inventors: Goto, Shinya
• Primary Examiner(s): Joerger, Kaitlin S
• Application Number:
  US15/782,972
• Publication Number:
  US 20180105406A1
• Time in Patent Office: 669 Days
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G01B 11/026 by measuring distance between sensor and object G01B11/0608 takes precedence

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.

Claims

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.

2. The forklift truck according to claim 1, wherein the mover device is the actuator.

3. The forklift truck according to claim 1, wherein the determiner is configured to determine that the rear part of the upper surface of the first load is higher than the front part when the variation in the longitudinal distance in response to the displacement of the two-dimensional rangefinder moved by the mover device is less than a lower limit of the specified threshold range.

4. The forklift truck according to claim 2, wherein the two-dimensional rangefinder is located higher than a level of bottom surfaces of the forks.

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:

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.

6. The method of claim 5, wherein the two-dimensional rangefinder is moved by raising and lowering the forks.

7. The method of claim 5, wherein it is determined that the rear part of the upper surface of the first load is higher than the front part when the variation in the longitudinal distance in response to the displacement of the two-dimensional rangefinder is less than a lower limit of the specified threshold range.