Patent ID: 9635346
Date: 2017-04-25
CPC Classifications: B66F,G01B,G01S,G05D,G06K,G06T,H04N

Claim:
1. An unmanned forklift comprising: a pair of forks disposed on a front surface of the unmanned forklift for insertion into a pallet that includes inserting ports; a travel vehicle main body that autonomously travels to a target position based on travel control information; a model data storage that stores model data related to a geometric feature of the pallet; a photographic device that photographs a periphery of the travel vehicle main body at the target position to acquire image data; and a controller; wherein the controller receives the travel control information including a travel path from a current position to the target position and a position information of the pallet; the controller calculates current self-posture information of the unmanned forklift based on the travel control information; the controller predicts a position of the pallet in a warehouse based on the image data, and determines a search region of a predetermined range that corresponds to a portion of the warehouse that includes the predicted position of the pallet within the warehouse based on the position information of the pallet and the current self-posture information; the controller detects a feature point of the image data with respect to the search region; the controller calculates a feature amount of a matching candidate point which is extracted from the feature point; and the controller matches the feature amount of the matching candidate point with the model data to recognize the position of the pallet based on the image data.