| CPC B66F 9/063 (2013.01) [B66F 9/0755 (2013.01); G01S 17/931 (2020.01); G05D 1/0088 (2013.01); G05D 1/0225 (2013.01); G05D 1/0236 (2013.01); G05D 1/0274 (2013.01); G05D 2201/0216 (2013.01)] | 9 Claims |
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1. An autonomous forklift truck, comprising:
a location recognition sensor equipped on top of the autonomous forklift truck to emit a laser and detect a location of the autonomous forklift truck in a traveling operation and a rotating operation of the autonomous forklift truck through a laser scan for a laser reflected by a reflective marking equipped in a structure defining a space of a work area or a laser reflected by a fixed indoor geometrical feature;
a third sensor equipped on each of left and right sides of the autonomous forklift truck to detect whether there is an obstacle on a path of rotation during the rotating operation of the autonomous forklift truck, and detect two rack beams and guide a location where a pallet will be unloaded during an unloading operation;
a fork laser sensor equipped at a location of a lift between two cantilevers that constitute a fork to measure a distance from a rack where the pallet is loaded or a distance from the pallet and emit a laser to a reflective marking for pallet hole detection equipped in the pallet and receive location information and reflectance data of a reflected laser in a loading operation; and
a control unit to process sensing signals inputted from all the sensors equipped in a front part and a rear part of the autonomous forklift truck and control a traveling operation, a rotating operation, a loading operation and an unloading operation of the autonomous forklift truck via connection with an autonomous forklift truck control server,
wherein the fork laser sensor receives a plurality of location information and reflectance data by repeatedly emitting the laser to the pallet having the reflective marking for pallet hole detection within a predetermined time,
the location information is 2-dimensional coordinate information of the location to which the laser is emitted, the reflectance data is quantitative contrast data of the location to which the laser is emitted, and the location information of the location to which the laser is emitted is received together for each reflectance data, and
the control unit calculates a location information average by averaging the location information of each reflectance data for reflectance data of a predetermined reference value or above, and identifies the calculated location information average as a location where the reflective marking for pallet hole detection is disposed.
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