The invention provides a transport vehicle, an edge position determination method, a distance calculation method, and a storage medium, which can detect the position of a surrounding object without detecting the shape of the transport vehicle itself. The transport vehicle includes a dot matrix acquisition unit and an edge determination unit. The dot matrix acquisition unit acquires a dot matrix (PG) by horizontally irradiating the cargo loaded on the cargo loading unit and the surrounding objects of the transport vehicle with light. The edge specifying unit analyzes the acquired dot matrix (PG) using a frequency distribution in which the distances in the left-right and front-rear directions are taken as the axis, and specifies dioptric intervals (S1), (S2), (S3), and (S4) adjacent to the substantially dioptric region as the edge positions of the cargo and surrounding objects in the left-right or front-rear directions.
本发明提供一种搬送车、边缘位置确定方法、距离计算方法以及存储介质,并非检测形状其自身,而能够检测周围物体的位置。搬送车包括点阵获取部以及边缘确定部。点阵获取部对被装载于货物装载部的货物以及搬送车的周围物体水平地照射光以获取点阵(PG)。边缘确定部使用将左右以及前后方向的距离设为轴的频率分布来分析所获取的点阵(PG),将与实质上无度数的区域邻接的有度数的区间(S1)、区间(S2)、区间(S3)以及区间(S4)确定为货物以及周围物体在左右或前后方向上的边缘位置。
Transport vehicle, edge position determination method, distance calculation method, and storage medium
搬送车、边缘位置确定方法、距离计算方法以及存储介质
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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