Kabushiki Kaisha Toyota Jidoshokki

Shingo Hattori

Minoru Tanaka

Akinobu Fujii

Yuuji Tsusaka

Provided is a position and posture estimation system including: a laser sensor that detects a distance to a pallet; a plane equation calculation unit that calculates a plane equation of a front surface of the pallet on the basis of detection data of the laser sensor; and an estimation computation unit that estimates the position and the posture of the pallet by using the plane equation of the front surface of the pallet which is calculated by the plane equation calculation unit. The estimation computation unit calculates a yaw angle, a pitch angle, and a roll angle of the pallet as the posture of the pallet.

Position and posture estimation system

A position and posture estimation apparatus includes: a laser sensor configured to be disposed on at least one of left and right sides of a forklift, to emit laser light to a side surface of a pallet lifted by a fork, and to receive reflected light of the laser light and acquire a laser measurement point group; and an estimation calculation unit configured to estimate a position and a posture of the pallet with respect to the fork based on the laser measurement point group acquired by the laser sensor.

Position and posture estimation apparatus of a forklift pallet

A path generation device is configured to generate a path along which a mobile object is to travel. The device comprises a planner module configured to plan a steering angle and a steering angular velocity for the mobile object to travel from a start position to a goal position by generating first and second isosceles triangles connecting the start position and the goal position based on the start position of the mobile object, a start position traveling direction being a traveling direction of the mobile object at the start position, the goal position of the mobile object, and a goal position traveling direction being a traveling direction of the mobile object at the goal position. The device comprises a curved path applying module configured to apply a first curved path along legs of the first isosceles triangle and apply a second curved path along legs of the second isosceles triangle.

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Kariya, Japan

Shingo Hattori