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公开(公告)号：US11813979B1
公开(公告)日：2023-11-14
申请号：US18167889
申请日：2023-02-13
发明人： Ryohei Terao
CPC分类号： B60Q1/543 , B60Q1/2692 , B60Q1/28 , B60Q1/30 , B60Q1/46 , B60Q2400/20 , B66F9/06
摘要： The disclosure provides a vehicle approach notification device and a picking truck. The vehicle approach notification device includes a first illumination portion provided on a cab capable of elevation; a second and a third illumination portion provided on a vehicle body incapable of elevation; and a control unit that (1) turns on the first illumination portion and off other illumination portions when a travel state of the vehicle body is backward travel and an elevation position is lower than a predetermined threshold value; (2) turns on the second illumination portion and off other illumination portions when the travel state is backward travel and the elevation position is equal to or higher than the threshold value; (3) turns on the third illumination portion and off other illumination portions when the travel state of vehicle is forward travel; and (4) turns off all illumination portions when the travel state is travel stop.
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公开(公告)号：US20220332554A1
公开(公告)日：2022-10-20
申请号：US17698590
申请日：2022-03-18
发明人： Yasuo FUJISHIMA , Ryoji ARAKI , Kazushige TAKAKI , Kenji TAKAO , Yohei CHISHIKI
摘要： A control method for a mobile object automatically moving includes: causing the mobile object to move along a first path; causing a sensor of the mobile object to detect a position and an attitude of a target object while the mobile object is moving along the first path; setting a second path up to a target position at which predetermined position and attitude with respect to the target object are achieved based on the position and the attitude of the target object; switching the first path to the second path to move the mobile object along the second path; executing optimization calculation based on an evaluation function, to set a third path; and switching the second path to the third path to move the mobile object along the third path.
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公开(公告)号：US20220066464A1
公开(公告)日：2022-03-03
申请号：US17401824
申请日：2021-08-13
IPC分类号： G05D1/02 , G01S17/931 , G01S17/89 , B66F9/06
摘要： A pallet detection device comprises: a point cloud acquisition unit configured to acquire point cloud data indicating a point cloud measured by a two-dimensional distance measurement device on a depth map; a straight line detection unit configured to detect a straight line corresponding to a front surface of a pallet based on the point cloud in a region presumed to include the front surface of the pallet in the point cloud data; a line segment detection unit configured to detect a line segment indicating the front surface of the pallet based on the straight line; and a position/orientation acquisition unit configured to acquire position and orientation of the pallet based on the line segment. The straight line detection unit acquires one or more straight line candidates as candidates for the straight line, assigns, for each of the one or more straight line candidates, a score to the point cloud so that points in front of the straight line candidate at a specified distance or more are assigned with a score with a constant whose priority in selection is lower than the rest of points, and selects the straight line from the one or more straight line candidates based on a score accumulated value obtained by accumulating the score for the point cloud in the region presumed to include the front surface of the pallet.
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公开(公告)号：USD923283S1
公开(公告)日：2021-06-22
申请号：US29691585
申请日：2019-05-17
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公开(公告)号：US20200327341A1
公开(公告)日：2020-10-15
申请号：US16843935
申请日：2020-04-09
发明人： Shogo Minami , Koji Shizaki , Akira Ando , Hajime Kodaira , Kiichi Sugimoto , Kenta Nakao , Satoshi Iio
摘要： A control device includes a specifying unit that specifies one of a plurality of detection objects on the basis of a state of an industrial vehicle when the plurality of detection objects are detected around the industrial vehicle, and a control unit that causes a notification to be performed for the one detection object specified by the specifying unit in an aspect different from those of other detected detection objects.
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公开(公告)号：US10544021B2
公开(公告)日：2020-01-28
申请号：US16269617
申请日：2019-02-07
发明人： Masahiro Yoshioka , Makoto Torikawa
摘要： An industrial vehicle includes a vehicle body, a head guard provided in the upper portion of the vehicle body, and a lighting device provided on the head guard and illuminating a space in front of the vehicle body. The lighting device is provided with a light illuminating the space in front of the vehicle body and brackets removably attached to a pipe of the head guard. The light is attached to the bracket so as to be positioned below the pipe and positioned beside or behind a front pillar of the head guard.
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公开(公告)号：US20190299844A1
公开(公告)日：2019-10-03
申请号：US16275397
申请日：2019-02-14
发明人： Masahiro YOSHIOKA , Seiya ITO
摘要： An industrial vehicle includes a vehicle body, a pair of right and left front pillars provided in the front portion of the vehicle body, and a headlight provided on the front pillar. The headlight is provided with a light and a bracket to which the light is attached. The bracket has an attachment plate and a protective frame formed in the front portion of the attachment plate. The protective frame has a vertical frame and a first horizontal frame and a second horizontal frame shorter than the vertical frame.
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8.发明公开公开(公告)号：US20240327180A1
公开(公告)日：2024-10-03
申请号：US18451124
申请日：2023-08-17
发明人： Tetsuro Yoshida
IPC分类号： B66F9/06 , B66F9/075 , G01S17/931 , G05D1/02
CPC分类号： B66F9/063 , B66F9/0755 , G01S17/931
摘要： 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 PG 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 PG using a frequency distribution with distances in left-right and front-rear directions as axes, and specifies sections S1, S2, S3, and S4 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.
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公开(公告)号：US12055943B2
公开(公告)日：2024-08-06
申请号：US17401824
申请日：2021-08-13
IPC分类号： G05D1/00 , B66F9/06 , G01S17/89 , G01S17/931
CPC分类号： G05D1/0242 , B66F9/063 , G01S17/89 , G01S17/931
摘要： Pallet detection device that acquires point cloud data indicating a point cloud measured by a two-dimensional distance measurement device on a depth map; detects a straight line corresponding to a front surface of a pallet based on the point cloud in a region presumed to include the front surface of the pallet in the point cloud data; detects a line segment indicating the front surface of the pallet based on the straight line; acquires position and orientation of the pallet based on the line segment. Acquires one or more straight line candidates and assigns for each of the one or more straight line candidates a score to the point cloud and selects the straight line from the one or more straight line candidates based on a score accumulated value obtained by accumulating the score for the point cloud in the region presumed to include the front surface of the pallet.
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公开(公告)号：US12030758B2
公开(公告)日：2024-07-09
申请号：US17694882
申请日：2022-03-15
CPC分类号： B66F9/063 , B66F9/0755 , B66F9/24
摘要： The initial setting method for the unmanned forklift includes a step of acquiring a measurement value of floor surface inclination of a stop position where the unmanned forklift stops when the unmanned forklift unloads a palette on a rack, a step of setting the stop position where a predetermined inclination pattern is detected, as a precise adjustment position, from the acquired measurement value, a step of causing the unmanned forklift to unload the palette in accordance with an operation program, and measuring a deviation amount of the palette unloaded by the unmanned forklift, at the precise adjustment position, and a step of correcting a command value of the unmanned forklift at the stop position, based on the measured deviation amount.
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