| CPC G06V 10/803 (2022.01) [B66F 9/063 (2013.01); G05D 1/021 (2013.01); G06V 20/60 (2022.01)] | 12 Claims |
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1. An unmanned forklift that has a pair of forks and automatically performs load handling with use of a pallet, the unmanned forklift comprising:
a processor configured to:
obtain a taken image from a camera for taking an image of a portion in front of the unmanned forklift,
have, for a plurality of configurations of pallets, a learning model obtained by machine learning for a combination of an image of each of the pallets and a corresponding one of the configurations of the pallets,
identify a configuration of a target pallet by inputting, to the learning model, the taken image of the target pallet, which is obtained by the processor,
obtain position and shape data of the target pallet from a light detection and ranging (LIDAR) or time of flight (TOF) camera for measuring a distance to the target pallet,
previously store, for the plurality of configurations of the pallets, position and shape data of each of the pallets,
perform comparison between the position and shape data that is stored and corresponds to the configuration of the target pallet and the position and shape data of the target pallet,
detect deviation of a position and an orientation of the target pallet based on the comparison, and
interface with a controller for moving the unmanned forklift for performing at least one of
(A) an operation including an operation of inserting the pair of forks respectively into insertion openings of the target pallet with reference to the deviation detected, and
(B) a stacking operation of stacking the pallet and a load held by the pair of forks inserted into the insertion openings, onto a load on the target pallet according to the detected deviation of the target pallet.
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