The embodiment of the invention discloses a safety verification method, an unmanned forklift and a storage medium, is applied to the technical field of unmanned forklifts, and can solve the problem of how to quickly and accurately perform safety verification on the relative position between a to-be-stored object and a storage location. The unmanned forklift is provided with a camera module, the unmanned forklift can obtain a target image through the camera module under the condition that the unmanned forklift executes a goods placing task, and the target image comprises a to-be-stored object and a target storage location; performing semantic segmentation on the target image through the target semantic segmentation network to obtain a segmentation result for the to-be-stored object and the target storage location; according to the segmentation result, safety verification is carried out on the relative position between the object to be stored and the target storage location, and a verification result is obtained; and if the verification result is that the verification is passed, placing the to-be-stored object in the target storage location.
本发明实施例公开了一种安全校验方法、无人叉车及存储介质,应用于无人叉车技术领域,可解决如何快速准确的对待存储物体和库位之间的相对位置进行安全校验的问题。无人叉车上设置有摄像模组,在无人叉车执行放货任务的情况下,无人叉车可以通过摄像模组,获取目标图像,目标图像中包括待存储物体和目标库位;通过目标语义分割网络,对目标图像进行语义分割,得到针对待存储物体和目标库位的分割结果;根据分割结果,对待存储物体和目标库位之间的相对位置进行安全校验,得到校验结果;若校验结果为校验通过,则将待存储物体放置在目标库位中。
Safety verification method, unmanned forklift and storage medium
安全校验方法、无人叉车及存储介质
2023-07-07
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06V |
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