JP7653263B2 - Apparatus and method for detecting blind spots inside a storage facility - Google Patents

Description

The present invention relates to a device and method for detecting blind spots inside a parking facility when the pallets of a mechanical parking facility are used as a storage space for luggage.

A mechanical parking system is a facility that stores a large number of vehicles (e.g., passenger cars) in a multi-level manner by installing mechanical equipment inside a building constructed above ground or in a space formed underground. Various types of mechanical parking systems are used, including the elevator system, comb elevator system, vertical circulation system, multi-layer circulation system, horizontal circulation system, and flat shuttle system.

It has been proposed to use the pallets of these mechanical parking devices as storage space for luggage (for example, Patent Document 1).

Patent No. 3906328

A mechanical parking device is provided with a boarding/deboarding room where a vehicle (e.g., a passenger car) enters and exits (enters or leaves the parking lot), and an entrance/exit door through which the vehicle enters and exits the boarding/deboarding room.
When a mechanical parking system is in operation, it is necessary to check that no one (e.g., children or elderly people) who needs to be secured remains inside the system. Conventionally, this check has been performed by detecting foreign objects using photoelectric sensors or human sensors, or by visual inspection by the manager.
Furthermore, in recent years, attempts have been made to automate such safety checks in mechanical parking devices by using laser radar or the like.

On the other hand, when the pallets of a mechanical parking system are used as a storage space for luggage, the placement of the luggage can create blind spots for laser radar, etc., and there is a risk that a person (e.g. a child) located in the blind spot cannot be detected.

The present invention was devised to solve the above-mentioned problems. That is, the object of the present invention is to provide an in-store blind spot detection device and method that can detect blind spots caused by the arrangement of luggage on a pallet when the pallet is used as a luggage storage space.

According to the present invention, a mechanical parking device is provided which includes a boarding/disembarking compartment having a boarding/disembarking position which is a fixed position where a vehicle is parked , a laser radar device which scans the entire area of a pallet located at said boarding/disembarking position with a laser beam and detects the three-dimensional coordinates of the reflected position, and a data processing device which detects blind spots on the pallet from the three-dimensional coordinates;
A plurality of carts each having a preset cart width and cart length and capable of being laid flat on the pallet,
The data processing device estimates a layout pattern of the carts from the three-dimensional coordinates;
Detecting an undetected area on the pallet from the arrangement pattern;
An interior blind spot detection device is provided that detects the blind spot area from the undetected area.

According to the present invention, the above-mentioned internal blind spot detection device is used,
Estimating the arrangement pattern of the cart from the three-dimensional coordinates;
Detecting the undetected area on the pallet from the arrangement pattern;
There is provided an interior blind spot detection method for detecting the blind spot area from the undetected area.

According to the present invention, the trolley has a preset width and length, and is placed flat on the pallet. Therefore, the data processing device can estimate the arrangement pattern of the trolley on the pallet at the boarding and disembarking position from the three-dimensional coordinates detected by the laser radar device, and can detect undetected areas on the pallet from the arrangement pattern.

Furthermore, the data processing device detects blind spots from undetected areas.
This makes it possible to detect blind spots caused by the arrangement of luggage on a pallet when the pallet is used as a storage location for luggage.

FIG. 1 is a plan view showing an embodiment of a mechanical parking device. 1 is a plan view showing a first embodiment of an interior blind spot detection device according to the present invention; FIG. 1 is an overall flow diagram of a first embodiment of a method for detecting a blind spot inside a container according to the present invention. FIG. 4 is an explanatory diagram of FIG. FIG. 13 is a diagram showing an arrangement pattern including an undetected area when the dimensions of the dollies are the same. 13 is a diagram showing an arrangement pattern including an undetected area when carriages of different sizes are mixed. FIG. A case where the presence or absence of a cart located in an undetected area cannot be determined by the method of the first embodiment described above is illustrated. FIG. 11 is a plan view showing an interior blind spot detection device according to a third embodiment of the present invention. FIG. 10 is a plan view showing an interior blind spot detection device according to a fourth embodiment of the present invention.

The following describes an embodiment of the present invention with reference to the drawings. Note that common parts in each drawing are given the same reference numerals, and duplicate explanations will be omitted.

FIG. 1 is a plan view showing an embodiment of a mechanical parking device 100.
1(A) is a plan view of a boarding/de-boarding compartment 2. In this figure, a mechanical parking device 100 includes a laser radar device 12 and a data processing device 14.

In this example, the boarding/disembarking room 2 is the entrance/exit floor of the mechanical parking device 100. In this example, the entrance/exit floor is a rectangular plane surrounded on all four sides by walls 2a, and has an entrance/exit 2b through which a vehicle (not shown) enters and leaves the parking lot. Also, an entrance/exit door 3 is provided for opening and closing the entrance/exit 2b.
The mechanical parking device 100 is, for example, an elevator parking device, but it may also be of another type having a boarding and disembarking compartment 2, for example, a vertical circulation type.

The laser radar device 12 horizontally and vertically scans the laser light 6 over the entire inside of the boarding/disembarking compartment 2 without any blind spots to detect the three-dimensional coordinates of the reflection position RP. This detection is preferably performed in real time. Real time means for each detection cycle of the sensor. The detection cycle is preferably, for example, 100 ms or less, which is a short time that can reliably detect people and animals.

In FIG. 1A, the laser radar device 12 is a plurality of (two in this example) three-dimensional laser radars 12A.
The three-dimensional laser radar 12A is preferably a LIDAR (Laser Imaging Detection and Ranging).

FIG. 1B is a plan view of the three-dimensional laser radar 12A.
As shown in this figure, the horizontal scanning range (horizontal scanning angle θ) of the laser light 6 is at least −45 degrees to +45 degrees from the front (θ=0), and preferably −75 degrees to +75 degrees.

In FIG. 1A, a plurality of (two) three-dimensional laser radars 12A are positioned on either side of a fixed position where a vehicle is parked.
In other words, two or more three-dimensional laser radars 12A are arranged in positions where they can detect the entire area inside the boarding/de-boarding compartment as a whole.
The fixed position where the vehicle is parked is set in the center of the boarding/disembarking area 2, and in this example, a pallet 5 on which the vehicle is placed is located at the fixed position.
In this example, the two 3D laser radars 12A are disposed at positions A and B in the figure, facing each other toward the center of the pallet 5. It should be noted that they may also be disposed at positions C and D in the figure, or at three or more positions.

FIG. 1C is a side view of the three-dimensional laser radar 12A.
In this figure, the vertical scanning range (vertical scanning angle α) of the laser light 6 is preferably −5 degrees to +35 degrees with respect to the horizontal (α=0).

In Figures 1(A) and 1(C), the multiple 3D laser radars 12A are installed so that the closest optical path of the laser light 6 does not exceed a threshold value X (described later) from the inner wall and floor surface 2c of the boarding/deboarding room 2.

In FIG. 1(C), the 3D laser radar 12A is installed at a height that prevents the target animal M from entering between it and the floor surface 2c of the boarding/disembarking compartment 2.

In the present invention, the target animal M is assumed to be a small child (e.g., a three-year-old child) that may move around the passenger compartment by itself, and also includes larger humans (e.g., an elderly person).
In the embodiment described below, the minimum thickness of the target animal M is set to, for example, 300 mm.
Therefore, objects (other than vehicles and dollies) whose minimum thickness is greater than the minimum thickness of the target animal M are also included in the target animal M. On the other hand, animals (e.g., kittens, small birds, etc.) whose minimum thickness is shorter than the minimum thickness of the target animal M are not included in the target animal M.

The irradiation height h of the laser light 6 of the three-dimensional laser radar 12A is set to a height lower than the minimum height of the target animal M (for example, 200 mm).
This configuration makes it possible to reliably detect target animals M (children or elderly people) within the irradiation range of the three-dimensional laser radar 12A.

In FIG. 1A, the two three-dimensional laser radars 12A are installed at positions (for example, 200 mm from the inner wall) where a target animal M cannot enter between them and the inner wall of the boarding/disembarking compartment 2.
This configuration makes it possible to prevent the target animal M from entering the rear of the three-dimensional laser radar 12A.
In addition, an intrusion prevention measure (e.g., a partition wall, etc.) may be installed on the back of the three-dimensional laser radar 12A to prevent the target animal M from entering.

In FIG. 1A , a data processing device 14 is, for example, a computer (PC), and detects a target animal M from detection data d from the laser radar device 12 .
The data processing device 14 includes an input device 14a, an output device 14b, a storage device 14c, and an arithmetic unit 14d.
The data processing device 14 stores unmanned data d1, which is detection data d when no target animal M is present inside the boarding/disembarking compartment 2, in the memory device 14c.
In addition, when the vehicle leaves the garage, the data processing device 14 removes the unmanned data d1 from the detection data d of the laser radar device 12, and detects the object detected after removal as the target animal M.
Furthermore, when the vehicle enters the warehouse, the data processing device 14 removes the unmanned data d1 and the vehicle detection data d2 included in the detection data d from the detection data d of the laser radar device 12, and detects the object detected after the removal as the target animal M. The vehicle detection data d2 can be stored when the vehicle is located at a fixed position when entering the warehouse.

With the above-mentioned configuration, the laser radar device 12 of the mechanical parking device 100 detects and stores in advance unmanned data d1 when the target animal M is not present inside the boarding/de-boarding space 2. Therefore, the unmanned data d1 includes position data (e.g., three-dimensional coordinates) of walls, pillars, equipment, etc. throughout the inside of the boarding/de-boarding space 2 when the target animal M is not present.

In addition, the laser radar device 12 acquires detection data d from the entire inside area in real time, so the acquired detection data d includes unmanned data when the target animal M is not present and position data of the target animal M.

Furthermore, the unmanned data d1, or the unmanned data d1 and the vehicle detection data d2, are removed from the detection data d detected in real time by the laser radar device 12, so that the data after removal can be detected as the target animal M.

Therefore, the target animal M in the boarding/disembarking compartment can be reliably detected in real time without human intervention.

The following describes how to use pallet 5 as a storage space for luggage.

First Embodiment
FIG. 2 is a plan view showing a first embodiment of an interior blind spot detection device 10 according to the present invention.
In this figure, the interior blind spot detection device 10 comprises the above-mentioned mechanical parking device 100 and a plurality of trolleys 20.

The mechanical parking device 100 has the above-mentioned boarding and disembarking compartment 2, a laser radar device 12, and a data processing device 14.
The boarding/disembarking compartment 2 has a vehicle boarding/disembarking position, in which an empty pallet 5 is positioned horizontally when the carriage 20 is brought in.
The laser radar device 12 scans the laser light 6 over the entire pallet located at the boarding/disembarking position of the boarding/disembarking room 2, and detects the three-dimensional coordinates of the reflection position. In this example, the detection distance of the three-dimensional laser radar 12A is preferably a distance that allows the laser light 6 to be scanned over the entire pallet.
The data processing device 14 detects a blind spot BC on the pallet from the detected three-dimensional coordinates. The algorithm for detecting a blind spot will be described later.

The trolley 20 has an overall rectangular parallelepiped shape, has a preset trolley width CB and trolley length CL, and is configured so as to be able to be placed flat on a pallet.
The overall height of the trolley 20 may be less than or equal to the overall height of the vehicle to be stored in the mechanical parking device 100.
The size of the carriage 20 is not limited to one type, but may be multiple types.
The cart 20 may be, for example, a cage cart with wheels. The minimum height of the cage cart is set to a height (for example, 100 mm or less) that prevents the target animal M, which needs to be secured, from entering under the cart. The cart 20 also has a cover or curtain that reflects the laser light 6 so that the position of its outer periphery can be reliably detected by the laser radar device 12.

The trolley loading range on the pallet is set to be less than the vehicle loading range.
For example, the overall width of the trolley loading area is 1800 mm or less, and the overall length is 5000 mm or less.
In this case, when the gap between the bogies is 100 mm or less, the bogie width CB is, for example, about 1800 mm, about 850 mm, or about 550 mm, and the bogie length CL is, for example, about 5000 mm, about 2450 mm, about 1600 mm, or about 1200 mm.

FIG. 3 is an overall flow diagram of a first embodiment of a method for detecting a blind spot inside a container according to the present invention, and FIG. 4 is an explanatory diagram of FIG.
In FIG. 3, the method for detecting a blind spot inside a container of the present invention uses the above-described interior blind spot detection device 10 and includes steps S1 to S11.

In step S1, the dolly 20 is laid flat on an empty pallet (see FIG. 4A). This laying operation is preferably performed by a transport robot (not shown), but may also be performed by a person (e.g., a transporter).
In step S1, when multiple carts 20 are laid flat on one pallet, it is preferable that the gap between adjacent carts is equal to or smaller than a preset maximum gap. The maximum gap is preferably set to a value smaller than the minimum thickness of a target animal M (e.g., a 3-year-old child) in a plan view, assuming the target animal M needs to be kept safe (e.g., 100 to 200 mm).
This configuration can prevent a target animal M (e.g., a three-year-old child) from hiding in the gap between adjacent carts.
In the present invention, the gap between the trolleys is not limited to being equal to or less than the maximum gap, and may exceed the maximum gap due to human (e.g., carrier) error, etc.

In step S2, the laser radar devices 12 scan the entire area of the pallet located at the boarding/disembarking position with the laser light 6 to detect the three-dimensional coordinates of the reflection position RP (see FIG. 4B).
In step S3, a plurality of corner positions CP of the cart 20 are detected from the detected three-dimensional coordinates (see FIG. 4C).
In step S4, the arrangement pattern AP is estimated from the corner position CP based on the preset carriage width CB and carriage length CL (see FIG. 4(D)).
In step S5, an undetected area BA on the pallet is detected from the arrangement pattern AP (see FIG. 4(E)).

In step S6, a maximum thickness BAb of the undetected area BA in a plan view is calculated. The maximum thickness BAb means the length of the short side of a rectangle surrounding the undetected area BA.
In step S7, the maximum thickness BAb of the undetected area BA in a planar view is compared with a threshold value X. The threshold value X is set to a value (e.g., 300 mm) smaller than the minimum thickness of a target animal M (e.g., a 3-year-old child) that requires safety assurance in a planar view. The minimum thickness of the target animal M means the short side length of a rectangle surrounding the target animal M in a planar view.

In step S7, if the maximum thickness BAb exceeds the threshold value X (YES), the undetected area BA is determined to be a blind area BC in step S8.
In step S9, an alarm is issued. The alarm may be displayed on an operation panel, a display device installed for logistics, a mobile terminal, or the like, or may be displayed as a warning light or may be notified by voice.

In step S10, an image is displayed on the display device (image display). This image may be the arrangement pattern AP (see FIG. 4E) including the undetected area BA, or the arrangement pattern AP after correction to eliminate the blind spot area BC (see FIG. 4F).
The corrected arrangement pattern AP can be set by moving a part of the carriage 20 from the arrangement pattern AP including the undetected area BA to the undetected area BA.

After step S10, the process returns to step S1, and the carriage 20 is repositioned by the transport robot or a person (e.g., a carrier).
On the other hand, if it is determined in step S7 that the maximum thickness BAb is equal to or smaller than the threshold value X (NO), it is determined in step S11 that there is no blind spot area, and the method for detecting a blind spot inside the container of the present invention is terminated.

It is preferable to carry out each of the above steps S1 to S11 with the entrance door 3 fully open. In this case, the laser light 6 used should be one that is safe for people.

FIG. 5 is a diagram showing an arrangement pattern AP including an undetected area BA when the dimensions of the carts 20 are the same.
Of these, (A) is an example of 1 row x 4 machines (hereinafter referred to as "1 x 4"), the same as Figure 4 (E), (B) and (C) are examples of 2 rows x 2 machines ("2 x 2"), (D) to (H) are examples of 2 rows x 3 machines ("2 x 3"), and (I) to (L) are examples of 3 rows x 3 machines ("3 x 3").

As described above, if the gap between adjacent carriages is set to a preset maximum gap or less in step S1, (E), (F), (H), (J) to (L) in FIG. 5 can suppress the occurrence of undetected areas BA.

FIG. 6 is a diagram showing an arrangement pattern AP including an undetected area BA when carriages 20 of different sizes are mixed.
Of these, when the gap between adjacent carts is set to a predetermined maximum gap or less in step S1, (B), (D), (E), (G), and (H) in Figure 6 can suppress the occurrence of undetected areas BA.

Second Embodiment
FIG. 7 illustrates a case where the presence or absence of a cart 20 located in an undetected area BA cannot be determined by the method of the first embodiment described above.
For example, in the examples (A) to (C), when the trolley 20 shown by the dashed line is present in the undetected area BA, the maximum thickness BAb of the undetected area BA is small, and even though there is no blind spot area BC, the method of the first embodiment will result in a false detection that a blind spot area BC exists.
In the example of (D), the method of the first embodiment cannot determine the presence or absence of the cart 20 in the central portion surrounded by the cart 20. Therefore, if the central portion is not determined to be a blind spot area BC, there is a possibility that a target animal M (e.g., a 3-year-old child) whose safety needs to be ensured is hiding in the central portion.

To solve this problem, in the second embodiment, the dimensions and number of carts 20 on the pallet are stored in advance, and the presence or absence of a cart 20 located in the undetected area BA is determined.
That is, after estimating the arrangement pattern AP in step S4 described above, the size and number of the carts 20 are collated with those stored in advance to determine whether or not there are any carts 20 located in the undetected area BA.
With this configuration, even in the cases of (A) to (D) of Figures 7, it is possible to determine the presence or absence of the cart 20 shown by the dashed line, thereby reducing false detections and increasing safety.

Third Embodiment
FIG. 8 is a plan view showing an interior blind spot detection device 10 according to a third embodiment of the present invention.
In this example, the interior blind spot detection device 10 is equipped with a pallet rotating device 16 that horizontally rotates the pallet 5 at the boarding/disembarking position.
In this figure, (A) is the same state as FIG. 4(A), (B) shows a state rotated 45 degrees to the right from (A), (C) shows a state rotated 90 degrees to the right, and (D) shows a state rotated 180 degrees to the right.

In the method of this embodiment, the pallet 5 is rotated horizontally, and the three-dimensional coordinates of the cart 20 are obtained at a plurality of rotation positions.
Next, the maximum thickness BAb of the undetected area BA in a planar view is calculated at multiple turning positions, and the minimum value among them is compared with a threshold value X. If this minimum value exceeds the threshold value X, the undetected area BA is determined to be a blind spot area BC.
That is, among a plurality of undetected areas BA obtained at a plurality of rotation positions, the minimum value of the maximum thickness BAb is compared with the threshold value X.

When the pallet 5 is rotated horizontally, it is preferable to fully close the entrance door 3 to ensure safety.
Therefore, in the case of this embodiment (third embodiment), the entrance door 3 is fully closed (S1-2) between steps S1 and S2 in FIG. 3, and after steps S2 to S6 are performed, the pallet 5 is horizontally rotated (S6-2), and steps S2 to S6-2 are repeated multiple times.
Next, the maximum thickness BAb in step S7 is replaced with "the minimum value of the maximum thickness BAb among the multiple undetected areas BA obtained at the multiple rotation positions."
The other methods are the same as those in the first embodiment.

With this configuration, as shown in FIG. 8B, the undetected area BA can be minimized, and the rate at which the blind spot area BC is detected can be reduced.
In addition, in this embodiment, the required number of laser radar devices 12 can be minimized (only one).
The number of turning positions may be two or more.
Regarding the horizontal rotation angle, when there is only one laser radar device 12, it is preferable that one rotation (360 degrees) is performed and the undetected area BA is detected at two or more rotation positions.
When there are two or more laser radar devices 12, the horizontal rotation angle may be half a rotation (180 degrees) or less.

Fourth Embodiment
FIG. 9 is a plan view showing an interior blind spot detection device 10 according to a fourth embodiment of the present invention.
In this example, as shown in (A), the trolley loading area on the pallet is virtually divided into a number of blocks 8 each having a width and length equal to or less than a threshold value. The threshold value X is set to a value (e.g., 300 mm) smaller than the minimum thickness of a target animal M (e.g., a 3-year-old child) whose safety needs to be ensured, in a plan view.
For example, when the loading range of the trolley is 1800 mm in width and 5000 mm in length, the size of each block 8 is 300 mm x 300 mm, and the block is divided into 96 blocks (6 x 16).

Moreover, the undetected area BA is detected in the same manner as in the first embodiment described above.
In this example, if there is one or more blocks 8 in the undetected area BA, the undetected area BA is determined to be a blind spot area BC.
With this configuration, steps S6 and S7 in the first embodiment can be omitted, and the presence or absence of the blind spot area BC can be easily determined.

Fifth Embodiment
In the embodiment described above, after all the carts 20 are laid flat on the pallet in step S1, the laser light 6 is irradiated in step S2.
In contrast to this, each time one cart 20 is placed flat on the pallet, steps S2 to S11 of the first embodiment may be carried out to detect the presence or absence of the blind spot area BC.
In this case, it is preferable that the laser light 6 used is one that ensures safety for people, and that each of the above-mentioned steps S1 to S11 is carried out with the entrance door 3 fully open.

According to this method, every time one cart 20 is laid flat, if there is a blind spot area BC, an alarm (warning) is issued in step S9, and the cart position can be corrected each time.
In response to an alarm, it is preferable that the worker inputs that he/she has confirmed the blind spot BC during safety confirmation, or that a layout for eliminating the blind spot BC is displayed to the worker in step S10.

According to the embodiment of the present invention described above, the trolley 20 has a preset trolley width CB and trolley length CL, and is placed flat on the pallet. Therefore, the data processing device 14 can estimate the arrangement pattern AP of the trolley 20 on the pallet at the boarding and disembarking position from the three-dimensional coordinates detected by the laser radar device 12, and detect continuous undetected areas BA on the pallet from the arrangement pattern AP.

Furthermore, the data processing device 14 detects the blind spot area BC from the undetected area BA.
For example, the maximum thickness BAb of the undetected area BA in a planar view is calculated, and the maximum thickness BAb is compared with a threshold value X. If the maximum thickness BAb exceeds the threshold value X, the undetected area BA is determined to be a blind spot area BC.
This makes it possible to detect blind spots BC caused by the placement of luggage in the boarding/deboarding compartment when the pallet 5 is used as a luggage storage space.

The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

AP: placement pattern, BA: undetected area, BAb: maximum thickness,
BC blind spot area, CB bogie width, CP corner position, CL bogie length,
d detection data, d1 unmanned data, d2 vehicle detection data,
M target animal, RP reflex position, X threshold,
2 boarding/disembarking room, 2a wall, 2b entrance/exit, 2c floor, 3 entrance/exit door,
5 Pallet, 6 Laser light, 8 Block, 10 In-warehouse blind spot detection device,
12 Laser radar device, 12A Three-dimensional laser radar,
14 data processing device, 14a input device, 14b output device,
14c storage device, 14d arithmetic unit, 16 pallet rotating device,
20 carts, 100 mechanical parking devices

Claims (14)

a mechanical parking device having a boarding/disembarking compartment having a boarding/disembarking position which is a fixed position where a vehicle is parked , a laser radar device which scans an entire pallet located at said boarding/disembarking position with a laser beam and detects the three-dimensional coordinates of the reflected position, and a data processing device which detects blind spots on the pallet from said three-dimensional coordinates;
A plurality of carts each having a preset cart width and cart length and capable of being laid flat on the pallet,
The data processing device estimates a layout pattern of the carts from the three-dimensional coordinates;
Detecting an undetected area on the pallet from the arrangement pattern;
An interior blind spot detection device that detects the blind spot area from the undetected area. The data processing device calculates a maximum thickness of the undetected region in a plan view,
comparing said maximum thickness to a threshold;
The interior blind spot detection device according to claim 1, wherein the undetected area is determined to be the blind spot area when the maximum thickness exceeds a threshold value. The internal blind spot detection device according to claim 2, wherein the threshold value is a value smaller than the minimum thickness in a plan view of a target animal requiring safety assurance. The laser radar device is installed so that a thickness of a gap between an optical path of the laser light closest to the inside and floor surface of the boarding/alighting compartment and the inside and floor surface of the boarding/alighting compartment does not exceed the threshold value. The interior blind spot detection device according to claim 2. The interior blind spot detection device according to claim 1, wherein a plurality of the laser radar devices are positioned with the pallet at the boarding and disembarking position between them. Using the in-fridge blind spot detection device according to claim 1,
Estimating the arrangement pattern of the cart from the three-dimensional coordinates;
Detecting the undetected area on the pallet from the arrangement pattern;
A method for detecting a blind spot inside a container, the method comprising: detecting the blind spot area from the undetected area. Detecting a plurality of corner positions of the carriage from the three-dimensional coordinates;
The method for detecting a blind spot inside a container according to claim 6, further comprising estimating the arrangement pattern from the positions of the corners. Calculating a maximum thickness of the undetected region in a plan view;
comparing said maximum thickness to a threshold;
The method for detecting a blind spot inside a container according to claim 6, further comprising: determining that the undetected area is the blind spot area when the maximum thickness exceeds the threshold value. After estimating the arrangement pattern, the arrangement pattern is compared with the previously stored dimensions and number of the carts on the pallet;
The method for detecting a blind spot inside a storehouse according to claim 8, further comprising determining whether or not the cart is located in the undetected area. A pallet turning device is provided for horizontally turning the pallet at the boarding/disembarking position,
The pallet is horizontally rotated, and the three-dimensional coordinates are acquired at a plurality of rotation positions;
7. The method for detecting a blind spot inside a container according to claim 6, further comprising the steps of: calculating a maximum thickness of the undetected area in a plan view at a plurality of the rotation positions; comparing the minimum value among the maximum thicknesses with a threshold value; and determining that the undetected area is the blind spot area if the minimum value exceeds the threshold value. A dolly loading area on the pallet is virtually divided into a plurality of blocks each having a width and a length equal to or less than a threshold value, and the presence or absence of the dolly is determined for each block;
The method for detecting a blind spot inside a container according to claim 6, further comprising the steps of: determining that the undetected area is the blind spot area when one or more of the blocks are present in the undetected area. The method for detecting blind spots in a warehouse according to claim 6, wherein the presence or absence of the blind spot area is detected each time the cart is placed flat on the pallet. The method for detecting a blind spot inside a container according to any one of claims 8 to 12, further comprising the steps of: displaying an image of the arrangement pattern including the undetected area, or the arrangement pattern after correction to eliminate the blind spot, when the undetected area is determined to be the blind spot area. The method for detecting a blind spot inside a warehousing according to claim 13, wherein the corrected arrangement pattern is set by moving a part of the cart from the arrangement pattern including the undetected area to the undetected area.

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