To provide a cargo handling support device that supports cargo handling work preferably using a learning model.SOLUTION: A forklift 1 comprises a storage unit 26 that stores 3D-CAD data 261 of a palette 30, and a control unit 27. The control unit 27 adds, to multiple synthetic images CDs generated by changing a position and/or attitude of a palette 30 on 3D-CAD data 261, edge information of a side face 31 of the palette 30 in the synthetic image CD, generates multiple pieces of teaching data TD, causes multiple pieces of teaching data TD to perform machine learning to create a learning model 261, acquires a capturing image M of the palette 30 by an imaging unit 24, and inputs the capturing image M to the learning model to obtain relative attitude of the palette 30 with respect to the imaging unit 24.SELECTED DRAWING: Figure 3
【課題】学習モデルを用いて好適に荷取作業を支援する。【解決手段】フォークリフト1は、パレット30の3D-CADデータ261を予め記憶する記憶部26と、制御部27とを備えている。制御部27は、3D-CADデータ261上でパレット30の位置及び姿勢の少なくとも一方を変化させて生成した複数の合成画像CDに、当該合成画像CDにおけるパレット30の側面31のエッジ情報を付与し、複数の教師データTDを生成し、複数の教師データTDを機械学習させて学習モデル261を作成し、撮影部24によりパレット30の撮像画像Mを取得し、撮像画像Mを前記学習モデルに入力して撮影部24に対するパレット30の相対姿勢を求める。【選択図】図3
CARGO HANDLING SUPPORT DEVICE, CONVEYING DEVICE, CARGO HANDLING SUPPORT METHOD, AND CARGO HANDLING SUPPORT PROGRAM
荷取支援装置、搬送装置、荷取支援方法及び荷取支援プログラム
2024-02-01
Patent
Electronic Resource
Japanese
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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V |
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