Transport vehicle, edge position specifying method, distance calculation method, and recording medium
AssigneeMitsubishi Logisnext Co., Ltd.
InventorTetsuro Yoshida
Life of this patent
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Abstract
A transport vehicle capable of detecting the position of a surrounding object without detecting the shape itself is provided. The transport vehicle includes a point group acquisition unit and an edge specifying unit. The point group acquisition unit acquires a point group by horizontally irradiating cargo loaded on a cargo loading unit and an object around the transport vehicle with light. The edge specifying unit analyzes the acquired point group using a frequency distribution with distances in left-right and front-rear directions as axes, and specifies sections with frequencies, adjacent to an area with substantially no frequency, as positions of edges in the left-right direction or the front-rear direction of the cargo and the object around.
Claims8
A transport vehicle, comprising:
- a cargo loading unit;
- a sensor is configured to acquire a point group by horizontally irradiating cargo loaded on the cargo loading unit and an object around the transport vehicle with light;
- a side shift unit is configured to adjust the cargo loading unit by an actuator;
- and
- a controller is configured to:
- analyze the acquired point group using a frequency distribution with distances in a left-right direction and/or a front-rear direction as axes,
- specify a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge in the left-right direction or the front-rear direction of the cargo and the object around,
- calculate a distance between the cargo and the object around the transport vehicle based on the specified position of the edge, and
- control the side shift unit to move the cargo loading unit based on the calculated distance.
An edge position specifying method for specifying a position of an edge of an object around a transport vehicle and cargo loaded on a cargo loading unit arranged in the transport vehicle, based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the edge position specifying method comprising:
- acquiring the point group by horizontally irradiating the object with light by the sensor;
- analyzing the acquired point group using a frequency distribution with distances in a left-right direction and/or a front-rear direction as axes, and
- specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge in the left-right direction and/or the front-rear direction of the object,
- wherein the specified position of the edge is used to calculate a distance between the cargo and the object, and the side shift unit is controlled to move the cargo loading unit based on the calculated distance.
A distance calculation method for calculating a distance of a gap between cargo loaded on cargo loading unit arranged in a transport vehicle and an object near the cargo based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the distance calculation method comprising:
- acquiring the point group by horizontally irradiating the cargo and the object with light by the sensor;
- analyzing the acquired point group using a frequency distribution with a distance in a left-right direction as an axis, and specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge of the cargo or the object;
- and
- calculating the distance of the gap between the cargo and the object in the left-right direction based on the specified positions of the edges of the cargo and the object;
- wherein the side shift unit is controlled to move the cargo loading unit based on the calculated distance.
A distance calculation method for calculating a distance of a gap between cargo loaded on a cargo loading unit arranged in a transport vehicle and an object near the cargo based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the distance calculation method comprising:
- acquiring the point group by horizontally irradiating the cargo and the object with light by the sensor;
- analyzing the acquired point group using a frequency distribution with a distance in a front-rear direction as an axis, and specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge of the cargo or the object;
- and
- calculating the distance of the gap between the cargo and the object in the front-rear direction based on the specified positions of the edges of the cargo and the object;
- wherein the side shift unit is controlled to move the cargo loading unit based on the calculated distance.
A distance calculation method for calculating a distance of a gap between cargo loaded on a cargo loading unit arranged in a transport vehicle and an object near the cargo based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the distance calculation method comprising:
- acquiring the point group by horizontally irradiating the cargo and the object with light by the sensor;
- analyzing the acquired point group using a frequency distribution with a distance in a front-rear direction as an axis, and specifying a section of a peak value in an upper area as a position of an edge of the object and specifying a section of a peak value in a lower area as a position of an edge of the cargo;
- and
- calculating the distance between the cargo and the object in the front-rear direction based on the specified positions of the edges of the cargo and the object;
- wherein the side shift unit is controlled to move the cargo loading unit based on the calculated distance.
A non-transient computer-readable recording medium, recording a position specifying program, causing a computer of a transport vehicle which comprises:
- a sensor is configured to acquire a point group by horizontally irradiating cargo loaded on a cargo loading unit arranged in the transport vehicle and an object with light;
- a side shift unit is configured to adjust the cargo loading unit by an actuator;
- and
- the computer, to perform
- analyzing the acquired point group using a frequency distribution with distances in a left-right direction and/or a front-rear direction as axes,
- specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge in the left-right direction or the front-rear direction of the object,
- calculating a distance between the cargo and the object based on the specified position of the edge;
- and
- controlling the side shift unit to move the cargo loading unit based on the calculated distance.
Dependencies are inferred from the claim text.