To enable the detection of the position of a pallet with high accuracy.SOLUTION: A pallet position detection method includes a position data acquisition step for emitting light toward a plurality of pillar parts 23 from an optical sensor 14 to acquire position data of a plurality of measuring points P before a carrier 10 enters an entry space 24, an inside measuring point extraction step for extracting an inside measuring point being a point on a surface 23a facing the entry space 24 of the pillar parts 23 from the plurality of measuring points P, and a pallet position calculation step for calculating the position of a pallet 20 on the basis of position data of the inside measuring point extracted in the inside measuring point extraction step. In the inside measuring point extraction step, a candidate point group for the inside measuring point is selected from the plurality of measuring points P, and whether the measuring points included in the candidate point group are appropriate as an inside measuring point is determined on the basis of a predetermined condition about each of the plurality of pillar parts 23.SELECTED DRAWING: Figure 4
【課題】パレットの位置を高い精度で検出可能とする。【解決手段】搬送車10が進入空間24に進入する前に、光学センサ14から複数の柱部23に向けて光を照射し、複数の測定点Pの位置データを取得する位置データ取得工程と、複数の測定点Pから、柱部23の進入空間24に面する面23a上の点である内法点を抽出する内法点抽出工程と、内法点抽出工程で抽出された内法点の位置データに基づいて、パレット20の位置を演算するパレット位置演算工程と、を備える。内法点抽出工程では、複数の柱部23のそれぞれについて、複数の測定点Pから内法点の候補点群を選び出し、候補点群に含まれる測定点が内法点として妥当か否かを所定条件に基づいて判断する。【選択図】図4
PALLET POSITION DETECTION METHOD AND PALLET POSITION DETECTION SYSTEM
パレットの位置検出方法及びパレットの位置検出システム
01.03.2024
Patent
Elektronische Ressource
Japanisch
IPC: | B61B RAILWAY SYSTEMS , Eisenbahnanlagen / B61D Einzelheiten oder Arten des Wagenaufbaus von Eisenbahnfahrzeugen , BODY DETAILS OR KINDS OF RAILWAY VEHICLES / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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