The invention provides an unmanned forklift goods picking and placing safety control system and method and a storage medium. The method comprises the steps that work tasks and running speed information of an unmanned forklift and goods distance information, detected by a depth camera, between a forklift body and goods are collected; when it is judged that the work task is the goods taking task, the running speed information is analyzed to calculate the real issuing speed of the current frame of the forklift; calculating a real cargo distance according to the real issuing speed and adjacent frame cargo distance information detected by a depth camera; when the depth camera cannot acquire cargo distance information, it is judged that the forklift enters the blind area of the depth camera, the initial position is recorded, and the forklift runs according to the real issuing speed until the running distance in the blind area exceeds the projection length of the blind area, and the forklift stops. Therefore, the relative state of the forklift and the goods is monitored, and the problem that the forklift drives the goods when picking and placing the goods is avoided.
本发明提供了一种无人叉车取放货安全控制系统及方法、存储介质,其中方法步骤包括:采集无人叉车的工作任务、行驶速度信息,及深度相机检测的车身与货物之间的货物距离信息;当判断工作任务为取货任务时,解析行驶速度信息,以计算叉车当前帧真实下发速度;根据真实下发速度,及深度相机检测的相邻帧货物距离信息,计算真实货物距离;当深度相机无法获取到货物距离信息时,判断叉车进入深度相机盲区,并记录初始位置,依据真实下发速度行驶,直至在盲区内行驶距离超出盲区投影长度时,令叉车停行。籍此以实现对叉车与货物相对状态的监控,避免叉车在取放货时带动货物的问题。
Unmanned forklift goods picking and placing safety control system and method and storage medium
一种无人叉车取放货安全控制系统及方法、存储介质
2024-06-11
Patent
Electronic Resource
Chinese
IPC: | 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 |
European Patent Office | 2022
|Unmanned forklift goods storing and taking method and device, medium and unmanned forklift
European Patent Office | 2023
|Safety verification method, unmanned forklift and storage medium
European Patent Office | 2023
|