Item detection device and method, and industrial vehicle, that detect the posture of the item to be loaded and unloaded

An item detection device that detects an item to be loaded and unloaded, the device comprising:

• an image acquisition unit acquiring a surrounding image obtained by capturing surroundings of the item detection device;
• an information image creation unit creating a first information image, in which information related to a part to be loaded and unloaded in the item has been converted into an easily recognizable state, on the basis of the surrounding image;
• a computing unit computing at least one of a position and a posture of the part to be loaded and unloaded on the basis of the first information image;
• and
• a posture detection unit detecting the posture of the part to be loaded and unloaded on the basis of a computation result of the computing unit,
• wherein the information image creation unit creates a second information image obtained by projecting the information acquired at a position where the surrounding image has been acquired onto a horizontal plane including a feature line of the item, and
• the posture detection unit disposes a boundary portion of a feature part estimated in advance in the item at any position of the second information image in the second information image, scans the second information image across a first region in which the feature part is present and a second region in which the feature part is not present to acquire a change in a visual parameter, calculates notation information indicating the boundary portion of the item on the basis of the change in the visual parameter, detects the feature line on the basis of the notation information, and detects the posture on the basis of a difference in angle between the feature line and a reference line in the second information image.