CN110502001A - Method and device for automatically loading or unloading goods for unmanned vehicle and unmanned logistics vehicle - Google Patents
Method and device for automatically loading or unloading goods for unmanned vehicle and unmanned logistics vehicle Download PDFInfo
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- CN110502001A CN110502001A CN201810469539.XA CN201810469539A CN110502001A CN 110502001 A CN110502001 A CN 110502001A CN 201810469539 A CN201810469539 A CN 201810469539A CN 110502001 A CN110502001 A CN 110502001A
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- 238000000034 method Methods 0.000 title claims abstract description 69
- 230000004044 response Effects 0.000 claims abstract description 21
- 230000007423 decrease Effects 0.000 claims description 9
- 238000003860 storage Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 238000004590 computer program Methods 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000009826 distribution Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
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- 238000011897 real-time detection Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/44—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading having a loading platform thereon raising the load to the level of the load-transporting element
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The application provides a method and a device for automatically loading and unloading cargos by an unmanned vehicle and the unmanned logistics vehicle. The method for automatically loading cargoes by the unmanned vehicle comprises the following steps: controlling an unmanned vehicle to travel to a first predetermined location below a rack storing goods such that a goods support portion of the unmanned vehicle is located below the goods; in response to a signal that the unmanned vehicle has traveled to the first predetermined location, controlling a lifting portion of the unmanned vehicle to rise to a first predetermined height to cause the lifting portion to lift the cargo from the rack and support the cargo.
Description
Technical field
This application involves unmanned technical field more particularly to a kind of automatic driving vehicles to load automatically, unloads cargo
Method and apparatus and unmanned logistics vehicles.
Background technique
Currently, the development of logistics distribution industry is very swift and violent, due to its daily production and operating activities and people with enterprise
Daily life it is closely bound up, therefore logistics distribution industry development so that enterprises and individuals all obtain it is more and more just
Benefit.However, at present the problem of there is also inefficiency for many links in logistics distribution field, cause human and material resources, when
Between etc. costs waste.
Unmanned technology is also the hot spot of Recent study, relies primarily on the control equipment based on computer system
To realize unpiloted target.Such as unmanned technical application to logistics distribution field can will be greatlyd improve logistics
Operating efficiency in delivery process, and reduce manpower and time cost.
Summary of the invention
This application provides a kind of automatic driving vehicles to load automatically, unloads the method and apparatus of cargo and unmanned
Logistics vehicles.
According to a first aspect of the present application, a kind of method that automatic driving vehicle loads cargo automatically is provided, comprising: control
Automatic driving vehicle processed is travelled to first predetermined area under the shelf of storage cargo, so that the goods of the automatic driving vehicle
Object support zone is in the lower section of the cargo；It has travelled in response to the automatic driving vehicle to the letter of first predetermined area
Number, the lifting unit for controlling the automatic driving vehicle rises to the first predetermined altitude so that the lifting unit by the cargo from
It is lifted on the shelf and supports the cargo.
According to one embodiment, this method further include: have risen to the described first predetermined height in response to the lifting unit
The signal of degree controls the automatic driving vehicle and sails out of first predetermined area.
According to one embodiment, control automatic driving vehicle is travelled to the first reservation place under the shelf of storage cargo
Point, so that it includes: according to the automatic driving car that the cargo supports portion of the automatic driving vehicle, which is located at below the cargo,
The sensor installed on, which scans the shelf data generated, establishes point cloud chart；Based on described in the point cloud chart determination established
The relative position of automatic driving vehicle and the shelf；The traveling road of the automatic driving vehicle is planned depending on that relative position
Diameter；The automatic driving vehicle is controlled according to the driving path to travel to first predetermined area.
According to one embodiment, the automatic driving vehicle is controlled according to the driving path to travel to described first in advance
Determining place includes: to determine the automatic driving vehicle and institute according to the signal for the distance-measuring equipment installed on the automatic driving vehicle
State the distance between shelf；It is travelled according to automatic driving vehicle described in identified distance controlling to first predetermined area.
According to one embodiment, the method that control automatic driving vehicle loads cargo automatically further include: in response to described
Automatic driving vehicle has sailed out of the signal of first predetermined area, controls the lifting unit decline.
According to one embodiment, the method that control automatic driving vehicle loads cargo automatically further include: in response to described
Lifting unit has dropped to the signal of the second predetermined altitude, and the locking device for controlling the automatic driving vehicle locks the cargo.
According to one embodiment, controlling the lifting unit decline includes: to control the lifting unit and drop to make the goods
Object guides via the guiding device of the automatic driving vehicle and falls in the predetermined position on the automatic driving vehicle.
According to one embodiment, the method that control automatic driving vehicle loads cargo automatically further include: described in control
Automatic driving vehicle is travelled to before first predetermined area, is controlled the automatic driving vehicle and is travelled to the second reservation place
Point, and make the cargo supports portion towards the shelf.
According to one embodiment, first predetermined altitude is that the highest in the mobile range of the lifting unit is high
Degree.
According to one embodiment, second predetermined altitude is the minimum height in the mobile range of the lifting unit
Degree.
According to one embodiment, the cargo supports portion is located at the rear portion of the automatic driving vehicle.
According to a second aspect of the present application, a kind of method that automatic driving vehicle unloads cargo automatically is provided, comprising: control
Cargo is raised up to the first predetermined altitude by the lifting unit of automatic driving vehicle processed, so that the cargo is higher than shelf；Described in control
Automatic driving vehicle is travelled to first predetermined area under the shelf, so that the cargo is located at the top of the shelf；
It has travelled in response to the automatic driving vehicle to the signal of first predetermined area, has controlled the lifting unit and drop to second
Predetermined altitude, so that the cargo carrying is on the shelf and being detached from the lifting unit.
According to one embodiment, the automatic driving vehicle is controlled to travel to the first reservation place under the shelf
Point, so that it includes: to be scanned according to the sensor installed on the automatic driving vehicle that the cargo, which is located above the shelf,
The shelf data generated establish point cloud chart；The automatic driving vehicle and the goods are determined based on the point cloud chart established
The relative position of frame；The driving path of the automatic driving vehicle is planned depending on that relative position；According to the driving path
The automatic driving vehicle is controlled to travel to first predetermined area.
According to one embodiment, the automatic driving vehicle is controlled according to the driving path to travel to described first in advance
Determining place includes: to determine the automatic driving vehicle and institute according to the signal for the distance-measuring equipment installed on the automatic driving vehicle
State the distance between shelf；It is travelled according to automatic driving vehicle described in identified distance controlling to first predetermined area.
According to one embodiment, the method that control automatic driving vehicle unloads cargo automatically further include: controlling nobody
Before the lifting unit of driving vehicle lifts cargo, the locking device for controlling the automatic driving vehicle is released to the cargo
Locking.
According to one embodiment, the method that control automatic driving vehicle unloads cargo automatically further include: described in control
Automatic driving vehicle is travelled to before first predetermined area under the shelf, is controlled the automatic driving vehicle and is travelled to
Two predetermined areas, and make the cargo supports portion of the automatic driving vehicle towards the shelf.
According to one embodiment, the method that control automatic driving vehicle unloads cargo automatically further include: in response to described
Lifting unit has dropped to the signal of second predetermined altitude, controls the automatic driving vehicle and sails out of first reservation place
Point.
According to one embodiment, first predetermined altitude is that the highest in the mobile range of the lifting unit is high
Degree.
According to one embodiment, second predetermined altitude is the minimum height in the mobile range of the lifting unit
Degree.
According to one embodiment, after automatic driving vehicle cargo supports portion is located at the automatic driving vehicle
Portion.
According to the third aspect of the application, a kind of device of automatic loading or unloading cargo is provided, comprising: processor；
Memory, for storing one or more programs；When one or more of programs are executed by the processor, so that described
Processor realizes any of the above-described method.
According to the fourth aspect of the application, a kind of unmanned logistics vehicles are provided, comprising:
Vehicle body；
Cargo supports portion, is used to support cargo；
Lifting unit, for lifting or declining cargo cargo from the cargo supports portion；
Sensor is installed on the vehicle body, for obtaining the sensing data of object in preset range；
Distance-measuring equipment is installed on the vehicle body, and detects the distance between object in preset range data；
Controller for controlling the elevating movement of the lifting unit, and collects the sensing data and/or apart from number
According to.
According to one embodiment, unmanned logistics vehicles further include: locking device, positioned at the rear portion of the vehicle body,
And for locking the cargo being located in the cargo supports portion.
According to one embodiment, the locking device is located at the cargo supports portion.
According to one embodiment, unmanned logistics vehicles further include: guiding device is located at the cargo supports portion
On, and for being guided to the bottom of cargo.
According to one embodiment, the lifting unit has limiter, so that the highest of the lifting unit increases height
Degree is located at the first predetermined altitude, and minimum reduction height is located at the second predetermined altitude.
According to one embodiment, the cargo supports portion is located at the rear portion of the vehicle body.
According to one embodiment, the distance-measuring equipment is laser radar.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the application
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Figure 1A to Fig. 1 E is schematically illustrated loads goods according to one embodiment automatic driving vehicle of the application automatically
The process of object；
Fig. 2A to Fig. 2 E is schematically illustrated unloads loading according to one embodiment automatic driving vehicle of the application automatically
The process of object；
Fig. 3 shows the schematic diagram of the unmanned logistics vehicles according to one embodiment of the application；
Fig. 4 shows the process for loading the method for cargo automatically according to one embodiment automatic driving vehicle of the application
Figure；
Fig. 5 show according to the application one embodiment control automatic driving vehicle travel to storage cargo shelf it
Under first predetermined area flow chart；
Fig. 6 is shown to travel according to driving path control automatic driving vehicle to first according to one embodiment of the application
The flow chart of the predetermined area；
Fig. 7 shows the process for unloading the method for cargo automatically according to one embodiment automatic driving vehicle of the application
Figure.
Specific embodiment
Presently filed embodiment is described in detail referring to the drawings.It should be noted that only example is described below
Property, and it is not intended to limit the application.In addition, in the following description, will adopt and different attached drawings be indicated with like reference numerals
In the same or similar component.Different characteristic in different embodiments described below can be bonded to each other, to form this
Other embodiments in application range.
A kind of method for being loaded automatically this application provides automatic driving vehicle and unloading cargo.Figure 1A to Fig. 1 E is exemplary
Ground shows the process for loading cargo automatically according to one embodiment automatic driving vehicle of the application.As shown in Figure 1A, first
It controls automatic driving vehicle 100 to travel to predetermined area A (second predetermined area), and makes the cargo supports portion 110 of vehicle 100
Towards the shelf 300 of storage cargo 200, when driving into shelf 300 in order to next step vehicle 100, cargo supports portion 110 can be located at
The underface of shelf 300.
Figure 1B is referred again to, control automatic driving vehicle 100 is travelled to shelf 300, so that the cargo supports of vehicle 100
Portion 110 is located at the lower section of cargo 200.Specifically, using the sensor installed on automatic driving vehicle 100 and such as laser thunder
The signal that the distance-measuring equipment (not shown) reached is detected drives under shelf 300 to control vehicle 100.Firstly, automatic driving car
The sensor installed on 100 can acquire point cloud data by scanning shelf 300, be based on the point cloud data, can establish point cloud chart.
Based on the point cloud chart, the relative position between automatic driving vehicle 100 and shelf 300 can be determined.It then, can be according to nobody
The relative position driven between vehicle 100 and shelf 300 carries out path planning, to cook up the driving path of vehicle 100.Ability
Field technique personnel are appreciated that any algorithm appropriate, which can be used, plans road according to the relative position between vehicle and shelf
Diameter.Finally, can travel according to the path clustering automatic driving vehicle 100 of planning to shelf 300.In automatic driving vehicle
100 travel on the way to shelf 300, and the laser radar (or other distance-measuring equipments appropriate) being mounted on vehicle 100 can be visited in real time
The distance between measuring car 100 and shelf 300.According to the real-time detection of laser radar as a result, controllable automatic driving vehicle 100
Under traveling to shelf 300, collision accident to avoid.
It will be understood by those skilled in the art that the sensor and the mountable position appropriate on vehicle of laser radar,
In order to scan surrounding objects and detection range.
Then, as shown in Figure 1 C, after automatic driving vehicle 100 travels in place, it can control the liter of automatic driving vehicle 100
Drop portion 120 (will be described in detail below) rises, so that lifting unit 120 lifts cargo 200 simultaneously from shelf 300
Supporting goods 300.It will be understood by those skilled in the art that the height that the height and lifting unit for shelf rise can suitably be set
Meter can lift cargo in order to which lifting unit is when rising from shelf.
Fig. 1 D is referred again to, after lifting unit 120 has lifted cargo 200, controllable automatic driving vehicle 100 sails out of shelf
300.Finally, as referring to figure 1E, after automatic driving vehicle 100 sails out of shelf 300, lifting controllable portion 120 declines, so that goods
Object 200 is supported in entire cargo supports portion 110.Thus, it can be achieved that being loaded automatically using automatic driving vehicle to cargo.
Fig. 2A to Fig. 2 E is schematically illustrated unloads loading according to one embodiment automatic driving vehicle of the application automatically
The process of object.As shown in Figure 2 A, the automatic driving vehicle 100 that control has been loaded with cargo 200 first is travelled to predetermined area A
(second predetermined area), and make the cargo supports portion 110 of vehicle 100 towards the shelf 300 for storing cargo 200.
Fig. 2 B is referred again to, cargo 200 is raised up to higher than shelf 300 by the lifting unit 120 of controllable automatic driving vehicle 100
Height.
Then, as shown in Figure 2 C, under control automatic driving vehicle 100 traveling to shelf 300, so that cargo 200 is located at
The top of shelf 300.Control automatic driving vehicle 100 is similar when travelling to the process under shelf 300 to above-mentioned loading cargo,
For the sake of brevity, details are not described herein.
Fig. 2 D is referred again to, after automatic driving vehicle 100 travels in place, can control the lifting unit of automatic driving vehicle 100
120 declines, so that cargo 200 is detached from lifting unit 120 and is carried on shelf 300.It will be understood by those skilled in the art that
The height of height and lifting unit decline for shelf can be suitably designed, and in order to which lifting unit is in decline, can make cargo
It falls on shelf.
Finally, as shown in Figure 2 E, after lifting unit 120 is fallen into place, controllable automatic driving vehicle 100 sails out of shelf
300.Thus, it can be achieved that on automatic driving vehicle cargo automatic unloading.
Fig. 3 shows the schematic diagram of the unmanned logistics vehicles according to one embodiment of the application.As shown in figure 3,
Unmanned logistics vehicles 100 include cargo supports portion 110 and lifting unit 120.Lifting unit 120 can within a certain height into
Row elevating movement, so that the cargo carried thereon is raised and lowered.Lifting unit 120 can have limiter (not shown), so as to
The motion range of lifting unit is limited between the first predetermined altitude and the second predetermined altitude (highest wicking height and most sinking
Between low clearance).Unmanned logistics vehicles 100 may also include controller (not shown), with the lifting for controlling lifting unit
Movement, and collection and delivery is from the data of sensor and laser radar.
Fig. 4 shows the process for loading the method for cargo automatically according to one embodiment automatic driving vehicle of the application
Figure.As shown in figure 4, this method 400 includes step S410 and S420.
In step S410, control automatic driving vehicle is travelled to first predetermined area under the shelf of storage cargo,
So that the cargo supports portion of automatic driving vehicle is located at the lower section of cargo.
Then, in the step s 420, it has travelled in response to automatic driving vehicle to the signal of first predetermined area, has controlled nothing
The lifting unit that people drives vehicle rises to the first predetermined altitude, so that lifting unit lifts cargo from shelf and supporting goods.
When vehicle driving to first predetermined area, the laser radar installed on the capable of emitting signal of vehicle driving system or vehicle can
Corresponding signal is issued, so that vehicle control system knows vehicle state in which, to issue the control instruction of next step.In
In step S420, control lifting unit rises, and when it rises to the height of cargo, cargo is lifted from shelf, and on continuing
The first predetermined altitude (for example, the maximum height that can rise) is risen to, so that cargo is detached from shelf.Thus, it can be achieved that it is unmanned
Automatic loading of the vehicle to cargo.
According to the application embodiment, this method 400, which may also include that, has risen to first in advance in response to lifting unit
Determine the signal of height, control automatic driving vehicle sails out of first predetermined area.When lifting unit has risen to the first predetermined altitude (example
Such as, the maximum height in movable range) when, capable of emitting corresponding signal shows that its current state is that arrived first in advance
Fixed height.In response to the signal, controllable automatic driving vehicle sails out of first predetermined area.
Fig. 5 show according to the application one embodiment control automatic driving vehicle travel to storage cargo shelf it
Under first predetermined area flow chart.As shown in figure 5, above-mentioned steps S410 may include sub-step S411 to S414.
In sub-step S411, established according to the sensor scanning shelf data generated installed on automatic driving vehicle
Point cloud chart.In sub-step S412, the relative position of automatic driving vehicle and shelf is determined based on the point cloud chart established.In son
In step S413, the driving path of automatic driving vehicle is planned depending on the relative position.In sub-step S414, according to driving path
Control automatic driving vehicle is travelled to first predetermined area.It is obtained as a result, using the sensor installed on automatic driving vehicle
Data, driving path can be planned, to enable the vehicle to automatically according to the route of planning to desired position.
Fig. 6 is shown to travel according to driving path control automatic driving vehicle to first according to one embodiment of the application
The flow chart of the predetermined area.As shown in fig. 6, above-mentioned sub-step S414 may include sub-step S414a and S414b.
In sub-step S414a, automatic driving car is determined according to the signal for the distance-measuring equipment installed on automatic driving vehicle
The distance between with the shelf.In sub-step S414b, according to identified distance controlling automatic driving vehicle travel to
First predetermined area.As a result, using the laser radar data obtained installed on automatic driving vehicle, vehicle can be determined in real time
The distance between shelf to control vehicle driving to desired position, and avoid colliding.
According to the application embodiment, in the step of above-mentioned control automatic driving vehicle sails out of first predetermined area
Later, the method that automatic driving vehicle loads cargo automatically may also include that having sailed out of first in response to automatic driving vehicle makes a reservation for
The signal in place, control lifting unit decline.Can according to vehicle and shelf that the laser radar being installed on vehicle is detected away from
From judging whether automatic driving vehicle has sailed out of first predetermined area of shelf.When judging that vehicle sailed out of the first reservation place
Point, then lifting controllable subordinate drops, in order to the subsequent operation to vehicle.
According to the another embodiment of the application, after lifting unit decline, automatic driving vehicle loads cargo automatically
Method may also include that the signal that the second predetermined altitude is had dropped in response to lifting unit, control the locking of automatic driving vehicle
Device locks cargo.It, can when lifting unit has dropped to the second predetermined altitude (for example, minimum altitude in its movable range)
Corresponding signal is issued, shows that its current state is that arrived the second predetermined altitude.In response to the signal, the lock of vehicle can control
Determine device locking cargo.As shown in figure 3, automatic driving vehicle 100 may include locking device 130, for locking cargo.In goods
When object has been carried in the cargo supports portion of vehicle, cargo is locked using locking device, so that cargo is in transit more
It is reliable and stable.
According to the another embodiment of the application, above-mentioned control lifting unit decline the step of can include: control lifting unit
Dropping to guides cargo via the guiding device of automatic driving vehicle and falls in the predetermined position on automatic driving vehicle.Such as figure
Shown in 3, automatic driving vehicle 100 may include guiding device 140, for falling to the mistake in cargo supports portion 110 in cargo
Cheng Zhong can be directed to the guidance of device 140 to desired position.Due to the traveling of placement position and vehicle of the cargo on shelf
Error will lead to cargo when in the cargo supports portion for be loaded into vehicle, and deviation occurs in position.Due to the presence of guiding device,
Cargo can be guided to position desired on vehicle, to avoid the occurrence of this deviation.
According to the application embodiment, before above-mentioned steps S410, automatic driving vehicle loads cargo automatically
Method may also include that control automatic driving vehicle is travelled to second predetermined area, and make cargo supports portion towards shelf.Example
Such as, cargo supports portion can be located at the rear portion of automatic driving vehicle, then the rear portion of vehicle can be made towards shelf.It can be convenient for as a result,
When next step vehicle drives into shelf, cargo supports portion is located at the underface of shelf.
Fig. 7 shows the process for unloading the method for cargo automatically according to one embodiment automatic driving vehicle of the application
Figure.As shown in fig. 7, this method 700 includes step S710 to S730.
In step S710, cargo is raised up to the first predetermined altitude by the lifting unit for controlling automatic driving vehicle, so that goods
Object is higher than shelf.In step S720, control automatic driving vehicle travels first predetermined area to shelf, so that cargo
Positioned at the top of shelf.Then, it in step S730, has travelled in response to automatic driving vehicle to the letter of first predetermined area
Number, control lifting unit drops to the second predetermined altitude, so that cargo carrying is on shelf and being detached from lifting unit.Thus, it can be achieved that
Automatic unloading of the automatic driving vehicle to cargo.
According to the application embodiment, above-mentioned steps S720 may include sub-step S411 as shown in Figure 5 extremely
S414.For the sake of brevity, the detailed description of sub-step S411 to S414 repeats no more herein.
According to the another embodiment of the application, above-mentioned sub-step S414 may include sub-step S414a and S414b.For
For the sake of briefly, the detailed description of sub-step S414a and S414b repeats no more herein.
According to the another embodiment of the application, before above-mentioned steps S710, automatic driving vehicle unloads loading automatically
The method of object may also include that the locking device of control automatic driving vehicle releases the locking to cargo.
According to the another embodiment of the application, before above-mentioned steps S720, automatic driving vehicle unloads loading automatically
The method of object may also include that control automatic driving vehicle is travelled to second predetermined area, and make cargo supports portion towards shelf.Example
Such as, cargo supports portion can be located at the rear portion of automatic driving vehicle, then the rear portion of vehicle can be made towards shelf.
According to the another embodiment of the application, after above-mentioned steps S730, automatic driving vehicle unloads loading automatically
The method of object may also include that the signal that the second predetermined altitude is had dropped in response to lifting unit, control automatic driving vehicle sail out of
First predetermined area.
According to the another embodiment of the application, the first predetermined altitude be can be in the mobile range of lifting unit most
Height, the second predetermined altitude can be the minimum altitude in the mobile range of lifting unit.
According to the third aspect of the application, a kind of device of automatic loading or unloading cargo is provided, comprising: processor；
Memory, for storing one or more programs；When one or more of programs are executed by the processor, so that described
Processor realizes any of the above-described method.
According to the fourth aspect of the application, a kind of unmanned logistics vehicles are provided, comprising:
Vehicle body；
Cargo supports portion, is used to support cargo；
Lifting unit, for lifting or declining cargo cargo from the cargo supports portion；
Sensor is installed on the vehicle body, for obtaining the sensing data of object in preset range；
Distance-measuring equipment is installed on the vehicle body, and detects the distance between object in preset range data；
Controller for controlling the elevating movement of the lifting unit, and collects the sensing data and/or apart from number
According to.
According to one embodiment, unmanned logistics vehicles further include: locking device, positioned at the rear portion of the vehicle body,
And for locking the cargo being located in the cargo supports portion.
According to one embodiment, the locking device is located at the cargo supports portion.
According to one embodiment, unmanned logistics vehicles further include: guiding device is located at the cargo supports portion
On, and for being guided to the bottom of cargo.
According to one embodiment, the lifting unit has limiter, so that the highest of the lifting unit increases height
Degree is located at the first predetermined altitude, and minimum reduction height is located at the second predetermined altitude.
According to one embodiment, the cargo supports portion is located at the rear portion of the vehicle body.
According to one embodiment, the distance-measuring equipment is laser radar.
It will be understood by those skilled in the art that it is system, method or computer program that the technical solution of the application is implementable
Product.Therefore, the application can behave as the embodiment of complete hardware, the embodiment of complete software (including firmware, resident software,
Microcode etc.) or the form of embodiment that combines software and hardware, they may be referred to generally as " circuit ", " module " or " are
System ".In addition, the application can behave as the form of computer program product, the computer program product is embedded into any tangible
Expression media in, the tangible expression media has the computer usable program code that is embedded into the medium.
Referring to according to the method, apparatus (system) of the embodiment of the present application and the flow chart and/or frame of computer program product
Figure describes the application.It is understood that can by computer program instructions execution flow chart and/or block diagram each frame,
And the combination of multiple frames in flowchart and or block diagram.These computer program instructions be provided to general purpose computer,
The processor of dedicated purpose computer or other programmable data processing units, so as to pass through computer or other programmable datas
The instruction that the processor of processing unit executes creates to indicate in a frame of flowchart and or block diagram or multiple frames
The device of function action.
These computer program instructions also can be stored in can instruct computer or other programmable data processing units with
Specific mode is realized in the computer-readable medium of function, so that the instruction generation being stored in computer-readable medium includes
The command device of the function action indicated in a frame or multiple frames in implementation flow chart and/or block diagram.
Computer program instructions can be also loaded into computer or other programmable data processing units, to cause calculating
A series of operating procedure is executed on machine or on other programmable devices, to generate computer implemented process, to make counting
The instruction executed on calculation machine or other programmable devices is provided for realizing the frame or multiple frames in flowchart and or block diagram
In the process of function action that indicates.
Flow chart and block diagram in attached drawing show the system of multiple embodiments according to the application, method and computer program
Architecture in the cards, the function and operation of product.In this regard, each frame in flowchart or block diagram can indicate one
A part of module, section or code comprising one or more executable instructions for realizing specific logical function.Also answer
Note that the function of marking in frame can not occur according to the sequence marked in attached drawing in the implementation of some substitutability.For example,
According to related functionality, two frames continuously shown actually can substantially simultaneously execute or these frames are sometimes with phase
Anti- sequence executes.It can also be noted that can be by the hardware based system or specially of execution specific function or the dedicated purpose of movement
Realized with the combination of purpose hardware and computer instruction each frame in block diagram and or flow chart diagram and block diagram and/or
The combination of multiple frames in flowchart illustration.
Although above narration includes many specific arrangements and parameter, these specific arrangements and ginseng should be noted that
Number is merely illustrative the embodiment of the application.This should not be taken as the limitation to the application range.Art technology
Personnel are appreciated that in the case where not departing from the application scope and spirit, can carry out various modifications, increase and replace to it.
Therefore, scope of the present application should be explained based on the claim.
Claims (28)
1. a kind of method that automatic driving vehicle loads cargo automatically, comprising:
Control automatic driving vehicle is travelled to first predetermined area under the shelf of storage cargo, so that the automatic driving car
Cargo supports portion be located at the lower section of the cargo；
It has travelled in response to the automatic driving vehicle to the signal of first predetermined area, has controlled the automatic driving vehicle
Lifting unit rise to the first predetermined altitude so that the cargo is lifted from the shelf and is supported described by the lifting unit
Cargo.
2. according to the method described in claim 1, further include:
The signal that first predetermined altitude is had risen in response to the lifting unit controls the automatic driving vehicle and sails out of institute
State first predetermined area.
3. according to the method described in claim 1, wherein control automatic driving vehicle is travelled to the shelf of storage cargo
First predetermined area, so that the cargo supports portion of the automatic driving vehicle is located at below the cargo includes:
The shelf data generated, which are scanned, according to the sensor installed on the automatic driving vehicle establishes point cloud chart；
The relative position of the automatic driving vehicle Yu the shelf is determined based on the point cloud chart established；
The driving path of the automatic driving vehicle is planned depending on that relative position；
The automatic driving vehicle is controlled according to the driving path to travel to first predetermined area.
4. according to the method described in claim 3, wherein according to the driving path control the automatic driving vehicle travel to
First predetermined area includes:
The automatic driving vehicle and the shelf are determined according to the signal for the distance-measuring equipment installed on the automatic driving vehicle
The distance between；
It is travelled according to automatic driving vehicle described in identified distance controlling to first predetermined area.
5. according to the method described in claim 2, further include:
The signal that first predetermined area has been sailed out of in response to the automatic driving vehicle controls the lifting unit decline.
6. according to the method described in claim 5, further include:
The signal that the second predetermined altitude is had dropped in response to the lifting unit controls the locking device of the automatic driving vehicle
Lock the cargo.
7. according to the method described in claim 5, wherein controlling lifting unit decline and including:
Controlling the lifting unit and dropping to guides the cargo via the guiding device of the automatic driving vehicle and falls in institute
State the predetermined position on automatic driving vehicle.
8. according to the method described in claim 1, further include:
It travels controlling the automatic driving vehicle to before first predetermined area, controls the automatic driving vehicle traveling
To second predetermined area, and make the cargo supports portion towards the shelf.
9. according to the method described in claim 1, wherein first predetermined altitude is in the mobile range of the lifting unit
Maximum height.
10. according to the method described in claim 6, wherein second predetermined altitude is in the mobile range of the lifting unit
Minimum altitude.
11. according to the method described in claim 8, wherein the cargo supports portion is located at the rear portion of the automatic driving vehicle.
12. a kind of method that automatic driving vehicle unloads cargo automatically, comprising:
Cargo is raised up to the first predetermined altitude by the lifting unit of control automatic driving vehicle, so that the cargo is higher than shelf；
It controls the automatic driving vehicle to travel to first predetermined area under the shelf, so that the cargo is positioned at described
The top of shelf；
It has travelled in response to the automatic driving vehicle to the signal of first predetermined area, has controlled the lifting unit and drop to
Second predetermined altitude, so that the cargo carrying is on the shelf and being detached from the lifting unit.
13. according to the method for claim 12, travelling wherein controlling the automatic driving vehicle to the shelf
First predetermined area, so that the cargo is located above the shelf includes:
The shelf data generated, which are scanned, according to the sensor installed on the automatic driving vehicle establishes point cloud chart；
The relative position of the automatic driving vehicle Yu the shelf is determined based on the point cloud chart established；
The driving path of the automatic driving vehicle is planned depending on that relative position；
The automatic driving vehicle is controlled according to the driving path to travel to first predetermined area.
14. according to the method for claim 13, being travelled wherein controlling the automatic driving vehicle according to the driving path
Include: to first predetermined area
The automatic driving vehicle and the shelf are determined according to the signal for the distance-measuring equipment installed on the automatic driving vehicle
The distance between；
It is travelled according to automatic driving vehicle described in identified distance controlling to first predetermined area.
15. according to the method for claim 12, further includes:
Before the lifting unit of control automatic driving vehicle lifts cargo, the locking device solution of the automatic driving vehicle is controlled
Except the locking to the cargo.
16. according to the method for claim 12, further includes:
It travels controlling the automatic driving vehicle to before first predetermined area under the shelf, control is described, and nobody drives
Vehicle driving is sailed to second predetermined area, and makes the cargo supports portion of the automatic driving vehicle towards the shelf.
17. according to the method for claim 12, further includes:
The signal that second predetermined altitude is had dropped in response to the lifting unit controls the automatic driving vehicle and sails out of institute
State first predetermined area.
18. according to the method for claim 12, wherein first predetermined altitude is the mobile range of the lifting unit
Interior maximum height.
19. according to the method for claim 12, wherein second predetermined altitude is the mobile range of the lifting unit
Interior minimum altitude.
20. according to the method for claim 12, wherein the cargo supports portion of the automatic driving vehicle be located at it is described nobody
Drive the rear portion of vehicle.
21. a kind of device of automatic loading or unloading cargo, comprising:
Processor；
Memory, for storing one or more programs；
When one or more of programs are executed by the processor, so that the processor is realized as in claim 1-20
Any method.
22. a kind of unmanned logistics vehicles, comprising:
Vehicle body；
Cargo supports portion, is used to support cargo；
Lifting unit, for lifting or declining cargo cargo from the cargo supports portion；
Sensor is installed on the vehicle body, for obtaining the sensing data of object in preset range；
Distance-measuring equipment is installed on the vehicle body, and detects the distance between object in preset range data；
Controller for controlling the elevating movement of the lifting unit, and collects the sensing data and/or range data.
23. unmanned logistics vehicles according to claim 22, further includes:
Locking device, positioned at the rear portion of the vehicle body, and for locking the cargo being located in the cargo supports portion.
24. unmanned logistics vehicles according to claim 23, wherein the locking device is located at the cargo supports
Portion.
25. unmanned logistics vehicles according to claim 22, further includes:
Guiding device is located in the cargo supports portion, and for guiding to the bottom of cargo.
26. unmanned logistics vehicles according to claim 22, wherein the lifting unit has limiter, so that
The highest wicking height of the lifting unit is located at the first predetermined altitude, and minimum reduction height is located at the second predetermined altitude.
27. unmanned logistics vehicles according to claim 22, wherein the cargo supports portion is located at the vehicle body
Rear portion.
28. unmanned logistics vehicles according to claim 22, wherein the distance-measuring equipment is laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469539.XA CN110502001A (en) | 2018-05-16 | 2018-05-16 | Method and device for automatically loading or unloading goods for unmanned vehicle and unmanned logistics vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810469539.XA CN110502001A (en) | 2018-05-16 | 2018-05-16 | Method and device for automatically loading or unloading goods for unmanned vehicle and unmanned logistics vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110502001A true CN110502001A (en) | 2019-11-26 |
Family
ID=68583891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810469539.XA Pending CN110502001A (en) | 2018-05-16 | 2018-05-16 | Method and device for automatically loading or unloading goods for unmanned vehicle and unmanned logistics vehicle |
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| Country | Link |
|---|---|
| CN (1) | CN110502001A (en) |
Cited By (1)
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