To provide a position/posture estimation device that can estimate a position and a posture of a pallet relative to a fork while the pallet is lifted by the fork.SOLUTION: A position/posture estimation device 6 comprises: a laser sensor 9 that is arranged on both the left and right sides of a forklift 1, irradiates with a laser a side surface 2a of a pallet 2 lifted by a fork 3, receives the reflected light of the laser, and acquires a laser measurement point group; and an estimation/calculation unit 14 that estimates a position and a posture of the pallet 2 with respect to the fork 3 based on the laser measurement point group acquired by the laser sensor 9.SELECTED DRAWING: Figure 2

    【課題】フォークによりパレットを持ち上げた状態で、フォークに対するパレットの位置及び姿勢を推定することができる位置姿勢推定装置を提供する。【解決手段】位置姿勢推定装置6は、フォークリフト1の左右両側に配置され、フォーク3により持ち上げられたパレット2の側面2aにレーザを照射し、レーザの反射光を受光してレーザ計測点群を取得するレーザセンサ9と、レーザセンサ9により取得されたレーザ計測点群に基づいて、フォーク3に対するパレット2の位置及び姿勢を推定する推定演算部14とを備える。【選択図】図2


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    Title :

    POSITION/POSTURE ESTIMATION DEVICE


    Additional title:

    位置姿勢推定装置


    Contributors:

    Publication date :

    2021-02-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



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