CN112623798B - Intelligent unloading method and device, computer equipment and storage medium - Google Patents
Intelligent unloading method and device, computer equipment and storage medium Download PDFInfo
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- CN112623798B CN112623798B CN202011462723.5A CN202011462723A CN112623798B CN 112623798 B CN112623798 B CN 112623798B CN 202011462723 A CN202011462723 A CN 202011462723A CN 112623798 B CN112623798 B CN 112623798B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/24—Unloading land vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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Abstract
The invention relates to the technical field of cargo loading and unloading, in particular to an intelligent unloading method, an intelligent unloading device, computer equipment and a storage medium, wherein the intelligent unloading method comprises the following steps: acquiring vehicle parking condition information of a site to be loaded and unloaded in real time; when the vehicle entrance information is acquired from the vehicle parking condition information, a compartment door opening judgment information is triggered; after a response message of the compartment door opening judgment message is acquired, triggering and sending a target to be unloaded identification message to a forklift terminal; and acquiring a target position to be unloaded corresponding to the target identification message to be unloaded, and triggering and sending an unloading starting message to the forklift terminal according to the target position to be unloaded. This application has the intelligent effect of further promoting intelligent fork truck when unloading.
Description
Technical Field
The invention relates to the technical field of cargo loading and unloading, in particular to an intelligent unloading method, an intelligent unloading device, computer equipment and a storage medium.
Background
At present, when goods are transported, the goods are usually placed in a carriage of a truck for transportation, and then the truck transports the goods in the carriage to a specified position for unloading, so that the transportation of the goods is completed or a node in the transportation is completed.
When unloading the cargo in the bed of a conventional truck, the cargo is usually unloaded by a forklift. When the goods in the carriage of current use fork truck to freight train are unloaded, use intelligent fork truck to unload occasionally, can promote the automation of unloading through intelligent fork truck, alleviate staff's working strength.
With respect to the related art in the above, the inventor considers that the intelligence of the intelligent forklift when unloading needs to be further improved.
Disclosure of Invention
In order to further improve the intelligence of the intelligent forklift during unloading, the application provides an intelligent unloading method, an intelligent unloading device, computer equipment and a storage medium.
The above object of the present invention is achieved by the following technical solutions:
an intelligent offloading method, the intelligent offloading method comprising:
acquiring vehicle parking condition information of a site to be loaded and unloaded in real time;
when the vehicle entrance information is acquired from the vehicle parking condition information, a compartment door opening judgment information is triggered;
after a response message of the compartment door opening judgment message is acquired, triggering and sending a target to be unloaded identification message to a forklift terminal;
and acquiring a target position to be unloaded corresponding to the target identification message to be unloaded, and triggering and sending an unloading starting message to the forklift terminal according to the target position to be unloaded.
By adopting the technical scheme, the vehicle parking condition information is obtained in real time, whether a vehicle parks at a site to be loaded and unloaded can be judged, so that when the specified vehicle parks at the site to be loaded and unloaded, the compartment door is triggered to open the judgment message, after the compartment door is opened by related workers, the goods in the compartment are identified by the automatic control forklift terminal, the corresponding unloading opening message can be triggered according to the identification result, after the vehicle loaded with the goods parks, the unloading opening message is automatically triggered according to the condition of the vehicle, the opening state of the compartment door of the compartment and the goods in the vehicle, and the intelligence of loading and unloading goods can be further improved.
The present application may be further configured in a preferred example to: when the vehicle entrance information is obtained from the vehicle parking condition information, the method for triggering the compartment door to open the judgment information specifically comprises the following steps:
matching the vehicle outer dimension information with preset truck type information from the vehicle parking condition information;
and when the matching success message is acquired, triggering the vehicle approach message.
By adopting the technical scheme, the external dimension information of the vehicle parked at the site to be loaded and unloaded is scanned, and the external dimension information of the vehicle is matched, so that whether the vehicle is loaded with the specified goods and waits for unloading or is used for transporting the specified goods can be judged, the intelligence of the loaded goods is improved, and the goods can be conveniently managed in a warehouse-out and warehouse-in mode.
The present application may be further configured in a preferred example to: after the response message of the door opening judgment message is acquired, triggering and sending a target to be unloaded identification message to a forklift terminal, specifically comprising:
sending an in-vehicle contour scanning message to acquire in-vehicle contour information, wherein the in-vehicle contour information comprises compartment space information;
and comparing the vehicle inner contour information with the corresponding truck type information in the matching success message, and if the comparison is successful, triggering the unloading target identification message.
Through adopting above-mentioned technical scheme, through obtaining interior profile information of vehicle in the profile scanning message one in the sending car, can compare out the specific position of goods in the carriage to can locate the information of the goods that specifically need unload in this specific position, promote the efficiency and the precision of scanning discernment.
The present application may be further configured in a preferred example to: the acquiring of the target position to be unloaded corresponding to the target identification message to be unloaded, and the triggering and sending of the unloading start message to the forklift terminal according to the target position to be unloaded specifically include:
acquiring data of goods in a compartment obtained by scanning and identifying the intelligent forklift, and acquiring information of contact points of the goods from the data of the goods in the compartment;
and acquiring the unloading target position information from the vehicle approach message, generating unloading route information according to the unloading target position information, and taking the cargo contact point information and the unloading route information as the unloading opening message.
Through adopting above-mentioned technical scheme, through acquireing goods contact point information, can combine the unloading target location information for intelligent fork truck generates the route from the carriage door to the goods that specifically need unload, can generate the route that intelligent fork truck walked automatically to can let intelligent fork truck take out the goods from the carriage automatically, and transport to the assigned position and deposit.
The present application may be further configured in a preferred example to: generating unloading route information according to the unloading target position information, which specifically comprises the following steps:
acquiring field space data, and acquiring forklift walking space data from the field space data;
and generating the unloading route information in the forklift walking space data by adopting an SLAM positioning technology according to the unloading position information.
By adopting the technical scheme, the corresponding unloading route information can be rapidly made in the forklift walking space by acquiring the forklift walking space data and utilizing the mature SLAM positioning technology, so that the goods can be rapidly transported in loading and unloading.
The second objective of the present invention is achieved by the following technical solutions:
an intelligent unloading device, comprising:
the parking information acquisition module is used for acquiring vehicle parking condition information of a site to be loaded and unloaded in real time;
the car door identification module is used for triggering a car door opening judgment message when the vehicle entrance message is obtained from the vehicle parking condition message;
the scanning module is used for triggering and sending a target to be unloaded identification message to the forklift terminal after a response message of the compartment door opening judgment message is acquired;
and the forklift control module is used for acquiring the target position to be unloaded corresponding to the target identification message to be unloaded, triggering according to the target position to be unloaded and sending an unloading starting message to the forklift terminal.
By adopting the technical scheme, the vehicle parking condition information is obtained in real time, whether a vehicle parks at a site to be loaded and unloaded can be judged, so that when the specified vehicle parks at the site to be loaded and unloaded, the compartment door is triggered to open the judgment message, after the compartment door is opened by related workers, the goods in the compartment are identified by the automatic control forklift terminal, the corresponding unloading opening message can be triggered according to the identification result, after the vehicle loaded with the goods parks, the unloading opening message is automatically triggered according to the condition of the vehicle, the opening state of the compartment door of the compartment and the goods in the vehicle, and the intelligence of loading and unloading goods can be further improved.
The third purpose of the present application is achieved by the following technical solutions:
a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the intelligent landing method when executing the computer program.
The fourth purpose of the present application is achieved by the following technical solutions:
a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned intelligent landing method.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the method comprises the steps that vehicle parking condition information is obtained in real time, whether a vehicle is parked at a site to be loaded and unloaded can be judged, so that a compartment door opening judgment message can be triggered when a specified vehicle is judged to be parked at the site to be loaded and unloaded, after a relevant worker opens the compartment door, a forklift terminal is automatically controlled to identify goods in a compartment, a corresponding unloading opening message can be triggered according to an identification result, and after the vehicle loaded with the goods is parked, the unloading opening message can be automatically triggered according to the condition of the vehicle, the opening state of the compartment door of the compartment and the goods in the vehicle, so that the intelligence of loading and unloading the goods can be further improved;
2. by scanning the external dimension information of the vehicle parked in the field to be loaded and unloaded and matching the external dimension information of the vehicle, whether the vehicle is a vehicle loaded with specified goods and waiting for unloading or used for transporting the specified goods can be judged, so that the intelligence of loading the goods is improved, and the management of the goods in and out of a warehouse is facilitated;
3. through the first contour scanning message in the sending vehicle, the information of the contour in the vehicle is obtained, the specific position of the goods in the carriage can be compared, and therefore the information of the goods which need to be unloaded can be identified at the specific position, and the efficiency and accuracy of scanning identification are improved.
Drawings
Fig. 1 is a flowchart of an intelligent unloading method according to an embodiment of the present application;
fig. 2 is a flowchart illustrating an implementation of step S20 in the intelligent landing method according to an embodiment of the present application;
fig. 3 is a flowchart illustrating an implementation of step S30 in the intelligent unloading method according to an embodiment of the present application;
fig. 4 is a flowchart illustrating an implementation of step S40 in the intelligent landing method according to an embodiment of the present application;
fig. 5 is a flowchart illustrating an implementation of step S42 in the intelligent unloading method according to an embodiment of the present application;
fig. 6 is a functional block diagram of an intelligent unloading apparatus in an embodiment of the present application;
fig. 7 is a schematic diagram of an apparatus in an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to the attached drawings.
In an embodiment, as shown in fig. 1, the present application discloses an intelligent unloading method, which specifically includes the following steps:
s10: and acquiring the vehicle parking condition information of the site to be loaded and unloaded in real time.
In this embodiment, the site to be unloaded refers to a site where the goods need to be unloaded and loaded. The vehicle stop condition information is information as to whether or not a vehicle for transporting goods is stopped at the site to be loaded or unloaded.
Specifically, in the logistics industry, people pay more and more attention to the speed of logistics, when the existing intelligent forklift loads and unloads goods, a driver of a truck usually needs to stop a vehicle and prepare the vehicle, the driver triggers an unloading starting instruction, the intelligent forklift can work to execute the goods loading and unloading instruction, but if the driver does not trigger the goods loading and unloading starting instruction or delays the starting instruction, the intelligent forklift cannot work normally, the goods loading and unloading efficiency is delayed, and the speed of the whole logistics chain is possibly influenced. Therefore, by installing a device for acquiring whether the vehicle enters the loading and unloading site at the loading and unloading site, for example, on a platform for loading and unloading goods, a camera device capable of identifying whether the vehicle stops at the loading and unloading site is installed, whether the vehicle stops at the loading and unloading site is monitored in real time by the device, and the monitored condition is taken as the vehicle stop condition information.
S20: and triggering the compartment door opening judgment message when the vehicle entrance message is acquired from the vehicle parking condition message.
In the present embodiment, the vehicle approach message refers to a message that a vehicle for transporting goods is parked at a site to be loaded or unloaded. The door opening judgment message is a message for judging whether the door of the carriage of the cargo transport vehicle parked at the loading and unloading site is opened.
Specifically, when it is detected that the vehicle for transporting goods is in the loading and unloading place, for example, a driver of the truck stops the truck at the side of the platform and faces a door of the carriage to the platform, the vehicle approach message is triggered.
Further, triggering a compartment door opening judgment message, and if the complete internal space can be successfully obtained by obtaining the space inside the compartment of the vehicle, indicating that the compartment door of the compartment of the vehicle is completely opened, so that the intelligent forklift can enter the compartment, and executing a responsive unloading instruction, so as to take and store the goods in the compartment to a specified place.
S30: and after a response message of the door opening judgment message is acquired, triggering and sending a target to be unloaded identification message to the forklift terminal.
In this embodiment, the response message is a message triggered after the car door is judged to be completely opened. The to-be-unloaded target identification message is a message for identifying data such as the shape and the kind of the cargo in the vehicle compartment.
Specifically, the response message is triggered after it is acquired that the door of the car has been fully opened. And triggering the target identification message to be unloaded to the forklift terminal for acquiring the condition of the goods in the carriage through the intelligent forklift.
S40: and acquiring a target position to be unloaded corresponding to the target identification message to be unloaded, and triggering and sending an unloading starting message to the forklift terminal according to the target position to be unloaded.
In the present embodiment, the target position to be unloaded is information of a position at which the cargo in the vehicle compartment needs to be stored after being taken out from the vehicle compartment. The unloading start message is a command message for the intelligent forklift to start to take the goods out of the carriage and place the goods to a specified position.
Specifically, a preset plan of the storage positions of the batch of cargos is obtained according to the identified target to be unloaded identification message, and the target position to be unloaded is obtained from the plan.
Further, according to the current position of the vehicle and the position of each cargo in the carriage, a forklift unloading route and an unloading sequence are generated, and then the unloading starting message is formed, so that the intelligent forklift can unload the cargos in the carriage according to the unloading starting message.
In an embodiment, as shown in fig. 2, in step S20, that is, when the vehicle entrance message is acquired from the vehicle parking situation message, the triggering the door opening determination message specifically includes:
s21: and matching the vehicle outer dimension information with preset truck type information from the vehicle parking condition information.
In the present embodiment, the vehicle outside dimension information is data of the size of the vehicle parked at the loading/unloading site.
Specifically, the outer contour of a vehicle parked at a site to be loaded and unloaded is scanned by laser scanning, thereby obtaining the vehicle outer dimension information of the vehicle.
And further, inputting the information of the external dimension of the vehicle into the pre-registered truck type information of the truck going to the site to be loaded and unloaded for matching, so as to be used for matching whether the vehicle is the vehicle which needs to be stored in the site to be loaded and unloaded in the transportation process.
S22: and when the matching success message is acquired, triggering the vehicle approach message.
Specifically, when the matching success message is acquired, the vehicle is indicated as a specified vehicle, and the vehicle approach message is triggered.
In an embodiment, as shown in fig. 3, in step S30, that is, after acquiring the response message to the door opening determination message, triggering and sending a to-be-unloaded target identification message to the forklift terminal includes:
s31: and sending an in-vehicle contour scanning message to acquire in-vehicle contour information, wherein the in-vehicle contour information comprises compartment space information.
Specifically, go to the railway carriage or compartment door department of carriage through intelligent fork truck to use laser radar to scan in the carriage, thereby obtain interior profile information of vehicle, and from the interior profile information of this vehicle carriage space information, this carriage space information is the information of the space condition of carriage inside when loading the goods.
S32: and comparing the vehicle inner contour information with the corresponding truck type information in the matching success message, and if the comparison is successful, triggering the unloading target identification message.
Specifically, the vehicle inner contour information is compared with corresponding truck type information in the matching success message, if the comparison is successful, the comparison result is the information of the specific type of the vehicle, the contour of the empty carriage is obtained according to the type of the information, the contour of the goods in the carriage is obtained through the contour and the vehicle inner contour information, the position of the goods in the carriage is identified, the unloading target identification message is triggered according to the position, and the related information of the goods to be unloaded is identified at the position by the intelligent forklift.
In an embodiment, as shown in fig. 4, in step S40, acquiring a target position to be unloaded corresponding to the target to be unloaded identification message, and triggering and sending a unloading start message to the forklift terminal according to the target position to be unloaded, specifically includes:
s41: the method comprises the steps of obtaining goods data in a compartment obtained by scanning and identifying the intelligent forklift, and obtaining goods contact point information from the goods data in the compartment.
In the present embodiment, the in-compartment cargo data refers to data on the type and shape of the cargo stored in the vehicle compartment. The cargo contact point information refers to a position where the intelligent forklift is used for extending in so as to lift and take out the cargo.
Specifically, through installing the laser scanning equipment at intelligent fork truck, scan the shape of the goods in the carriage to obtain in this railway carriage or compartment goods data, acquire this goods contact point information. In acquiring the contact point information of the goods, the shape of the position where each goods contacts the forklift may be acquired in advance, and the position of the shape may be recognized as the contact point information of the goods in the scanning.
S42: and acquiring unloading target position information from the vehicle approach message, generating unloading route information according to the unloading target position information, and taking the cargo contact point information and the unloading route information as unloading starting information.
In this embodiment, the unloading route information refers to the sum of the route of the intelligent forklift entering the carriage to take out the goods and the route of the intelligent forklift going to the carriage to place the goods.
Specifically, unique information of the truck, such as a license plate number, is acquired from the vehicle entrance message, the type of goods which are allocated in advance and a warehousing work order are matched according to the unique information, and the storage position of the goods of the type is acquired from the warehousing work order, so that the unloading target position information is obtained.
Furthermore, a route from the carriage to the carriage for placing the goods is generated by using the existing route generation algorithm, and when the intelligent forklift takes the goods out of the carriage each time, the route of the intelligent forklift in the carriage during the taking of the goods at this time is calculated, so that the unloading route information is obtained.
In an embodiment, as shown in fig. 5, in step S42, the generating the discharge route information according to the discharge target location information includes:
s421: and acquiring field space data, and acquiring forklift walking space data from the field space data.
In this embodiment, the site space data is information on the bottom surface of the site where the goods are stored. The forklift walking space data refers to the space for the intelligent forklift to walk in normal work.
Specifically, the field space information is obtained from a plan drawing of the field, and forklift walking space data is obtained from the field space information according to a pre-planned scheme of loading and unloading of the intelligent forklift.
S422: and generating unloading route information in the forklift walking space data by using an SLAM positioning technology according to the unloading position information.
Specifically, after a route for the intelligent forklift to take out the goods in the carriage is generated, the position of the carriage is used as a starting point, the unloading position information is used as an end point, and the unloading route information is generated in the forklift traveling space data by using the SLAM positioning technology.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
In one embodiment, an intelligent unloading device is provided, and the intelligent unloading device corresponds to the intelligent unloading method in the above embodiment one by one. As shown in fig. 6, the intelligent unloading device includes a parking information acquisition module, a door identification module, a scanning module, and a forklift control module. The functional modules are explained in detail as follows:
the parking information acquisition module is used for acquiring vehicle parking condition information of a site to be loaded and unloaded in real time;
the car door identification module is used for triggering a car door opening judgment message when the vehicle entrance message is obtained from the vehicle parking condition message;
the scanning module is used for triggering and sending a target to be unloaded identification message to the forklift terminal after a response message of the compartment door opening judgment message is acquired;
and the forklift control module is used for acquiring the target position to be unloaded corresponding to the target identification message to be unloaded, triggering according to the target position to be unloaded and sending an unloading starting message to the forklift terminal.
Optionally, the door identification module includes:
the size scanning submodule is used for matching the external size information of the vehicle with preset truck type information from the parking condition information of the vehicle;
and the matching sub-module is used for triggering the vehicle approach message when the matching success message is acquired.
Optionally, the scanning module includes:
the interior contour scanning submodule is used for sending an interior contour scanning message to acquire interior contour information of the vehicle, wherein the interior contour information of the vehicle comprises compartment space information;
and the information comparison submodule is used for comparing the vehicle inner contour information with the corresponding truck type information in the matching success message, and if the comparison is successful, triggering the unloading target identification message.
Optionally, the forklift control module includes:
the contact information acquisition submodule is used for acquiring goods data in the compartment obtained by scanning and identifying the intelligent forklift and acquiring the contact point information of the goods from the goods data in the compartment;
and the route generation submodule is used for acquiring unloading target position information from the vehicle approach information, generating unloading route information according to the unloading target position information, and taking the cargo contact point information and the unloading route information as unloading opening information.
Optionally, the route generation sub-module includes:
the space acquisition unit is used for acquiring field space data and acquiring forklift walking space data from the field space data;
and the route generating unit is used for generating unloading route information in the forklift walking space data by adopting an SLAM positioning technology according to the unloading position information.
For specific limitations of the intelligent discharging device, reference may be made to the above limitations of the intelligent discharging method, which will not be described herein again. Each module in the intelligent discharging device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used for storing preset vehicle type information and information of planned goods warehouse-in and warehouse-out orders. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement an intelligent landing method.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
acquiring vehicle parking condition information of a site to be loaded and unloaded in real time;
when the vehicle entrance information is acquired from the vehicle parking condition information, the compartment door opening judgment information is triggered;
after a response message of a door opening judgment message is acquired, triggering and sending a target to be unloaded identification message to a forklift terminal;
and acquiring a target position to be unloaded corresponding to the target identification message to be unloaded, triggering according to the target position to be unloaded and sending an unloading starting message to the forklift terminal.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring vehicle parking condition information of a site to be loaded and unloaded in real time;
when the vehicle entrance information is acquired from the vehicle parking condition information, the compartment door opening judgment information is triggered;
after a response message of a door opening judgment message is acquired, triggering and sending a target to be unloaded identification message to a forklift terminal;
and acquiring a target position to be unloaded corresponding to the target identification message to be unloaded, and triggering and sending an unloading starting message to the forklift terminal according to the target position to be unloaded.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus (Rambus) direct RAM (RDRAM), direct bused dynamic RAM (DRDRAM), and bused dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (8)
1. An intelligent unloading method, characterized in that the intelligent unloading method comprises:
acquiring vehicle parking condition information of a site to be loaded and unloaded in real time;
when the vehicle entrance information is acquired from the vehicle parking condition information, a compartment door opening judgment information is triggered, which specifically comprises:
matching the vehicle external dimension information with preset truck type information from the vehicle parking condition information to judge whether the vehicle is a vehicle loaded with specified goods and waiting for unloading or used for transporting the specified goods;
when a matching success message is obtained, triggering the vehicle approach message;
after a response message of the compartment door opening judgment message is acquired, triggering and sending a target to be unloaded identification message to a forklift terminal;
and acquiring a target position to be unloaded corresponding to the target identification message to be unloaded, and triggering and sending an unloading starting message to the forklift terminal according to the target position to be unloaded.
2. The intelligent unloading method according to claim 1, wherein after the response message to the door opening judgment message is obtained, the triggering and sending of the target to be unloaded identification message to the forklift terminal specifically comprises:
sending an in-vehicle contour scanning message to acquire in-vehicle contour information, wherein the in-vehicle contour information comprises compartment space information;
and comparing the vehicle inner contour information with the corresponding truck type information in the matching success message, and if the comparison is successful, triggering the unloading target identification message.
3. An intelligent unloading method according to claim 1, wherein the acquiring of the target position to be unloaded corresponding to the target identification message to be unloaded, and the triggering and sending of the unloading start message to the forklift terminal according to the target position to be unloaded specifically include:
acquiring goods data in the compartment obtained by scanning and identifying the intelligent forklift, and acquiring goods contact point information from the goods data in the compartment;
and acquiring the unloading target position information from the vehicle approach message, generating unloading route information according to the unloading target position information, and taking the cargo contact point information and the unloading route information as the unloading opening message.
4. An intelligent unloading method according to claim 3, wherein the generating of the unloading route information based on the unloading target position information specifically comprises:
acquiring field space data, and acquiring forklift walking space data from the field space data;
and generating the unloading route information in the forklift walking space data by adopting an SLAM positioning technology according to the unloading target position information.
5. An intelligent unloading device, characterized in that intelligent unloading device includes:
the parking information acquisition module is used for acquiring vehicle parking condition information of a site to be loaded and unloaded in real time;
the car door identification module is used for triggering the car door to open and judge the information when the vehicle entrance information is obtained from the vehicle parking condition information, and the car door identification module comprises:
the size scanning submodule is used for matching the external size information of the vehicle with preset truck type information from the external size information of the vehicle in the parking condition information of the vehicle so as to judge whether the vehicle is a vehicle which is loaded with specified goods and waits for unloading or is used for transporting the specified goods;
the matching sub-module is used for triggering the vehicle approach message when the matching success message is obtained;
the scanning module is used for triggering and sending a target to be unloaded identification message to the forklift terminal after a response message of the compartment door opening judgment message is acquired;
and the forklift control module is used for acquiring the target position to be unloaded corresponding to the target identification message to be unloaded, triggering according to the target position to be unloaded and sending an unloading starting message to the forklift terminal.
6. The intelligent unloading device of claim 5, wherein the scanning module comprises:
the interior contour scanning submodule is used for sending an interior contour scanning message to acquire interior contour information of a vehicle, wherein the interior contour information of the vehicle comprises compartment space information;
and the information comparison sub-module is used for comparing the vehicle inner contour information with the corresponding truck type information in the matching success message, and if the comparison is successful, triggering the unloading target identification message.
7. Computer arrangement comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the intelligent landing method of any of claims 1 to 4 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the intelligent landing method of any one of claims 1 to 4.
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| CN113467435A (en) * | 2021-05-21 | 2021-10-01 | 广州市康远物联科技有限公司 | System for preventing vehicle from not completely unloading |
| CN114185343A (en) * | 2021-11-29 | 2022-03-15 | 牧原肉食品有限公司 | Method, device and storage medium for controlling the loading of a transport vehicle into a compartment of a fork-lift truck |
| CN114387337A (en) * | 2021-12-31 | 2022-04-22 | 东莞盟大集团有限公司 | Internet of things management method and device for goods entering and leaving warehouse, electronic equipment and medium |
| CN116513830B (en) * | 2022-12-07 | 2024-03-15 | 国网江苏省电力有限公司泰州供电分公司 | Intelligent warehouse loading and unloading system and control method thereof |
| CN115909794A (en) * | 2023-02-24 | 2023-04-04 | 华砺智行(武汉)科技有限公司 | Intelligent platform vehicle guiding method and device, electronic equipment and storage medium |
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