Transport vehicle, edge position specifying method, distance calculation method, and recording medium

1 . A transport vehicle, comprising:

a cargo loading unit;

a sensor is configured to acquire a point group by horizontally irradiating cargo loaded on the cargo loading unit and an object around the transport vehicle with light;

a side shift unit is configured to adjust the cargo loading unit by an actuator; and

a controller is configured to:

analyze the acquired point group using a frequency distribution with distances in a left-right direction and/or a front-rear direction as axes,

specify a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge in the left-right direction or the front-rear direction of the cargo and the object around,

calculate a distance between the cargo and the object around the transport vehicle based on the specified position of the edge, and

control the side shift unit to move the cargo loading unit based on the calculated distance.

2 . The transport vehicle according to claim 1 , wherein the controller is further configured to:

acquire the point group by horizontally irradiating the cargo and a nearby object of the cargo with light,

analyze the acquired point group using a frequency distribution with a distance in the left-right direction as an axis, and respectively specify left and right sections with frequencies, adjacent to an area with substantially no frequency, as positions of edges of the cargo or the nearby object, and

calculate a distance in the left-right direction between the cargo and the nearby object based on the specified positions of the edges of the cargo and the nearby object.

3 . The transport vehicle according to claim 1 , wherein the controller is further configured to:

acquire the point group by horizontally irradiating the cargo and a nearby object of the cargo with light,

analyze the acquired point group using a frequency distribution with a distance in the front-rear direction as an axis, and respectively specify front and rear sections with frequencies, adjacent to an area with substantially no frequency, as positions of edges of the cargo or the nearby object, and

calculate a distance in the front-rear direction between the cargo and the nearby object based on the specified positions of the edges of the cargo and the nearby object.

4 . An edge position specifying method for specifying a position of an edge of an object around a transport vehicle and cargo loaded on a cargo loading unit arranged in the transport vehicle, based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the edge position specifying method comprising:

acquiring the point group by horizontally irradiating the object with light by the sensor;

analyzing the acquired point group using a frequency distribution with distances in a left-right direction and/or a front-rear direction as axes, and

specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge in the left-right direction and/or the front-rear direction of the object,

wherein the specified position of the edge is used to calculate a distance between the cargo and the object, and the side shift unit is controlled to move the cargo loading unit based on the calculated distance.

5 . A distance calculation method for calculating a distance of a gap between cargo loaded on cargo loading unit arranged in a transport vehicle and an object near the cargo based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the distance calculation method comprising:

acquiring the point group by horizontally irradiating the cargo and the object with light by the sensor;

analyzing the acquired point group using a frequency distribution with a distance in a left-right direction as an axis, and specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge of the cargo or the object; and

calculating the distance of the gap between the cargo and the object in the left-right direction based on the specified positions of the edges of the cargo and the object;

wherein the side shift unit is controlled to move the cargo loading unit based on the calculated distance.

6 . A distance calculation method for calculating a distance of a gap between cargo loaded on a cargo loading unit arranged in a transport vehicle and an object near the cargo based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the distance calculation method comprising:

acquiring the point group by horizontally irradiating the cargo and the object with light by the sensor;

analyzing the acquired point group using a frequency distribution with a distance in a front-rear direction as an axis, and specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge of the cargo or the object; and

calculating the distance of the gap between the cargo and the object in the front-rear direction based on the specified positions of the edges of the cargo and the object;

wherein the side shift unit is controlled to move the cargo loading unit based on the calculated distance.

7 . A distance calculation method for calculating a distance of a gap between cargo loaded on a cargo loading unit arranged in a transport vehicle and an object near the cargo based on a point group acquired by a sensor arranged in the transport vehicle, wherein the transport vehicle further comprising a side shift unit configured to adjust the cargo loading unit by an actuator, the distance calculation method comprising:

acquiring the point group by horizontally irradiating the cargo and the object with light by the sensor;

analyzing the acquired point group using a frequency distribution with a distance in a front-rear direction as an axis, and specifying a section of a peak value in an upper area as a position of an edge of the object and specifying a section of a peak value in a lower area as a position of an edge of the cargo; and

calculating the distance between the cargo and the object in the front-rear direction based on the specified positions of the edges of the cargo and the object;

wherein the side shift unit is controlled to move the cargo loading unit based on the calculated distance.

8 . A non-transient computer-readable recording medium, recording a position specifying program, causing a computer of a transport vehicle which comprises:

a sensor is configured to acquire a point group by horizontally irradiating cargo loaded on a cargo loading unit arranged in the transport vehicle and an object with light;

a side shift unit is configured to adjust the cargo loading unit by an actuator; and

the computer, to perform

analyzing the acquired point group using a frequency distribution with distances in a left-right direction and/or a front-rear direction as axes,

specifying a section with frequencies, adjacent to an area with substantially no frequency, as a position of an edge in the left-right direction or the front-rear direction of the object,

calculating a distance between the cargo and the object based on the specified position of the edge; and

controlling the side shift unit to move the cargo loading unit based on the calculated distance.