CN115557432A - Goods unloading method and device, electronic equipment and storage medium - Google Patents
Goods unloading method and device, electronic equipment and storage medium Download PDFInfo
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- CN115557432A CN115557432A CN202211177665.0A CN202211177665A CN115557432A CN 115557432 A CN115557432 A CN 115557432A CN 202211177665 A CN202211177665 A CN 202211177665A CN 115557432 A CN115557432 A CN 115557432A
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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
- B66F9/0755—Position control; Position detectors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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Abstract
The invention relates to the field of cargo unloading, in particular to a cargo unloading method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring a goods unloading position corresponding to a target goods on a pallet of a target forklift; determining a tray pose adjusting position corresponding to the target forklift according to the goods unloading position; when the target forklift runs to the position for adjusting the pose of the pallet, adjusting the pose of the pallet corresponding to the target forklift to obtain the target pose corresponding to the pallet; planning a target path from the tray pose adjusting position to the goods unloading position according to the relation among the target pose, the tray pose adjusting position and the goods unloading position; and based on the target path, driving from the tray pose adjusting position to the goods unloading position, and unloading the target goods. The method solves the problem that in the process of transporting goods, due to jolting and the like, the position and posture of the tray relative to the target forklift are deviated, and finally the goods are placed at improper positions and postures, so that safety accidents are caused.
Description
Technical Field
The invention relates to the field of cargo unloading, in particular to a cargo unloading method and device, electronic equipment and a storage medium.
Background
With the continuous development and iteration of intelligent and digital technologies, the automation level of field operation of engineering vehicles is higher and higher, and the unmanned operation of forklifts in parks becomes the current development trend. The engineering forklift is an intelligent industrial vehicle which can automatically complete path tracking and goods taking and unloading work without manual operation, and the automatic goods taking and unloading is a very important link in the whole operation process. For some scenes with high operation precision requirements or goods needing to be stacked, the placement precision requirements for the engineering forklift during unloading are high, but various errors generated in the operation process can cause great challenges to the unloading precision of the forklift.
In the prior art, the posture of the pallet of the engineering forklift can deviate and change in the process of loading and transporting goods, and the deviation and the change of the posture of the pallet cannot be detected and fed back to a control system, so that the deviation and the change of the posture of the pallet can generate great challenges to the goods unloading precision of the engineering forklift, the actual goods unloading position can deviate from a target position, and safety accidents can be caused by improper goods placing posture in serious cases.
Disclosure of Invention
In view of this, the embodiment of the invention provides a cargo unloading method, which aims to solve the problem that in the prior art, the position and posture of a tray are changed, so that the final position and posture of a cargo are improper, and a safety accident is caused.
According to a first aspect, an embodiment of the present invention provides a cargo unloading method, including:
acquiring a goods unloading position corresponding to a target goods on a pallet of a target forklift;
determining a tray pose adjusting position corresponding to the target forklift according to the goods unloading position;
when the target forklift runs to the position for adjusting the pose of the tray, adjusting the pose of the tray corresponding to the target forklift to obtain the target pose corresponding to the tray;
planning a target path from the tray pose adjusting position to the goods unloading position according to the relation among the target pose, the tray pose adjusting position and the goods unloading position;
and based on the target path, driving from the tray pose adjusting position to the goods unloading position, and unloading the target goods.
According to the goods unloading method provided by the embodiment of the invention, the goods unloading position corresponding to the target goods on the pallet of the target forklift is obtained, then the position and posture adjustment position of the pallet corresponding to the target forklift is determined according to the goods unloading position, and the accuracy of the determined position and posture adjustment position of the pallet corresponding to the target forklift is ensured. When the target forklift runs to the tray pose adjusting position, the pose of the tray corresponding to the target forklift is adjusted to obtain the target pose corresponding to the tray, so that the pose compensation of the tray pose deviation generated from the completion of loading goods to the running of the target forklift to the tray pose adjusting position is realized, and the accuracy of the obtained target pose corresponding to the tray is ensured. Then, according to the relation among the target pose, the tray pose adjusting position and the goods unloading position, a target path from the tray pose adjusting position to the goods unloading position is planned, and the accuracy of the planned target path is guaranteed. And based on the target path, the vehicle runs from the position of the tray pose adjustment to the goods unloading position to unload the target goods, so that the accuracy of the position of the unloaded target goods is ensured. According to the method, when the target forklift runs to the position for adjusting the pose of the pallet, namely before the target forklift runs to the position for unloading goods, the pose of the pallet of the target forklift is compensated, and the accuracy of the target pose corresponding to the pallet of the target forklift is guaranteed. The problem of in the freight transportation process, because jolt the reason such as lead to the tray to take place the position appearance skew for target fork truck, finally lead to putting the improper problem of causing the incident of position appearance of goods is solved.
With reference to the first aspect, in a first implementation manner of the first aspect, when the target forklift travels to the pallet pose adjustment position, adjusting the pose of the pallet corresponding to the target forklift to obtain a target pose corresponding to the pallet, includes:
when the target forklift runs to the position for adjusting the pose of the pallet, acquiring the current pose of the pallet corresponding to the target forklift;
acquiring a preset pose of the pallet in a coordinate system of the target forklift when the target forklift runs to the position for adjusting the pose of the pallet;
and adjusting the current pose according to the relation between the current pose and the preset pose to obtain the target pose.
According to the cargo unloading method provided by the embodiment of the invention, when the target forklift runs to the position of the tray pose adjustment, the current pose of the tray corresponding to the target forklift is obtained, and then when the target forklift runs to the position of the tray pose adjustment, the preset pose of the tray in a coordinate system of the target forklift is obtained; and adjusting the current pose according to the relation between the current pose and the preset pose to obtain the target pose, so that the accuracy of the obtained target pose is ensured.
With reference to the first embodiment of the first aspect, in a second embodiment of the first aspect, when the target forklift travels to the pallet pose adjustment position, acquiring a current pose of a pallet corresponding to the target forklift, including:
when the target forklift runs to the position for adjusting the pose of the tray, acquiring initial point cloud data corresponding to the tray;
and analyzing the initial point cloud data, and determining the current pose of the pallet corresponding to the target forklift.
According to the goods unloading method provided by the embodiment of the invention, when the target forklift runs to the position and posture adjustment position of the tray, initial point cloud data corresponding to the tray is obtained; and analyzing the initial point cloud data to determine the current pose of the pallet corresponding to the target forklift, so that the accuracy of the determined current pose of the pallet corresponding to the target forklift is ensured.
With reference to the second implementation manner of the first aspect, in a third implementation manner of the first aspect, the analyzing the initial point cloud data to determine a current pose of the pallet corresponding to the target forklift includes:
constructing an initial point cloud model corresponding to the tray based on the initial point cloud data;
acquiring an actual point cloud model corresponding to the tray;
matching the initial point cloud model with the actual point cloud model;
according to the matching result, deleting redundant point cloud data except the point cloud data corresponding to the tray in the initial point cloud data to obtain target point cloud data corresponding to the tray;
and determining the current pose of the pallet corresponding to the target forklift based on the target point cloud data.
According to the cargo unloading method provided by the embodiment of the invention, the initial point cloud model corresponding to the tray is constructed based on the initial point cloud data, so that the accuracy of the constructed initial point cloud model is ensured. Acquiring an actual point cloud model corresponding to the tray; matching the initial point cloud model with the actual point cloud model;
and deleting redundant point cloud data except the point cloud data corresponding to the tray in the initial point cloud data according to the matching result to obtain target point cloud data corresponding to the tray, so that the accuracy of the obtained target point cloud data corresponding to the tray is ensured. Then, the current pose of the tray corresponding to the target forklift is determined based on the target point cloud data, the accuracy of the determined current pose of the tray corresponding to the target forklift is guaranteed, and the influence of redundant point cloud data on the target point cloud data is avoided, so that the influence of multi-cloud point cloud data on the current pose of the tray is avoided.
With reference to the first implementation manner of the first aspect, in a fourth implementation manner of the first aspect, the adjusting the current pose according to the relationship between the current pose and the preset pose to obtain the pose of the object includes:
converting the current pose into a real pose of the pallet under the coordinates of the target forklift;
calculating a pose transformation matrix between the real pose and a preset pose;
and adjusting the real pose according to the pose conversion matrix to obtain the target pose.
According to the goods unloading method provided by the embodiment of the invention, the coordinate system is converted for the current pose, the current pose is converted into the real pose of the pallet under the coordinate of the target forklift, the real pose obtained by conversion is ensured to be under the coordinate of the target forklift, the real pose corresponding to the pallet obtained by conversion is ensured to be under the same coordinate system with the preset pose, and the accuracy of comparing the real pose with the preset pose can be ensured. And then, calculating a pose transformation matrix between the real pose and a preset pose, ensuring the accuracy of the pose transformation matrix obtained by calculation, adjusting the real pose according to the pose transformation matrix to obtain the target pose, and ensuring the accuracy of the obtained target pose.
With reference to the first aspect, in a fifth embodiment of the first aspect, determining a pallet pose adjustment position corresponding to the target forklift according to the cargo unloading position includes:
acquiring an initial planning track corresponding to the position of the target forklift when the target forklift runs to the unloading position of the goods;
and determining the position on the initial planning track, which is a preset distance away from the goods unloading position, and taking the position as a tray pose adjusting position.
According to the goods unloading method provided by the embodiment of the invention, the initial planning track corresponding to the goods unloading position when the target forklift runs is obtained, and then the position which is a preset distance away from the goods unloading position on the initial planning track is determined, so that the position is adjusted for the position of the tray pose, and the accuracy of the determined position for adjusting the position of the tray pose is ensured.
With reference to the first aspect, in a sixth implementation manner of the first aspect, planning a target path from the pallet pose adjustment position to the cargo unloading position according to a relationship among the target pose, the pallet pose adjustment position, and the cargo unloading position includes:
determining the stop position of the target forklift according to the relation between the target pose and the goods unloading position;
planning a target path of the target forklift from a tray pose adjusting position to a stopping position by using a preset path planning algorithm;
correspondingly, based on the target path, the position is adjusted from the tray position and the attitude, and the goods is unloaded to the position, and the unloading of the target goods comprises the following steps:
and based on the target pose, driving from the tray pose adjusting position to a stopping position according to the target path, and unloading the target cargo to a cargo unloading position at the stopping position.
According to the cargo unloading method provided by the embodiment of the invention, the stop position of the target forklift is determined according to the relation between the target pose and the cargo unloading position, so that the accuracy of the determined stop position corresponding to the target forklift is ensured. And then, a preset path planning algorithm is utilized to plan a target path from the tray pose adjusting position to the stopping position of the target forklift, so that the accuracy of the determined target path is ensured. Then, based on the target pose, the vehicle runs from the tray pose adjusting position to the stopping position according to the target path, and the target goods are unloaded to the goods unloading position at the stopping position, so that the target goods can be accurately unloaded to the goods unloading position, the unloading accuracy of the target goods is guaranteed, and the problem of safety accidents caused by improper placing pose of the target goods is solved.
According to a second aspect, an embodiment of the present invention further provides a cargo unloading device, including:
the acquisition module is used for acquiring a goods unloading position corresponding to the target goods on the pallet of the target forklift;
the determining module is used for determining the position of the tray pose adjustment corresponding to the target forklift according to the goods unloading position;
the adjusting module is used for adjusting the pose of the tray corresponding to the target forklift to obtain the target pose corresponding to the tray when the target forklift runs to the position for adjusting the pose of the tray;
the planning module is used for planning a target path from the tray pose adjusting position to the cargo unloading position according to the relation among the target pose, the tray pose adjusting position and the cargo unloading position;
and the unloading module is used for driving the pallet from the position for adjusting the pose of the pallet to the unloading position of the goods based on the target path, and unloading the target goods.
According to the goods unloading device provided by the embodiment of the invention, the goods unloading position corresponding to the target goods on the pallet of the target forklift is obtained, then the position and posture adjusting position of the pallet corresponding to the target forklift is determined according to the goods unloading position, and the accuracy of the determined position and posture adjusting position of the pallet corresponding to the target forklift is ensured. When the target forklift runs to the tray pose adjusting position, the pose of the tray corresponding to the target forklift is adjusted to obtain the target pose corresponding to the tray, so that the pose compensation of the tray pose deviation generated from the completion of loading goods to the running of the target forklift to the tray pose adjusting position is realized, and the accuracy of the obtained target pose corresponding to the tray is ensured. And then, according to the relation among the target pose, the pallet pose adjusting position and the goods unloading position, planning a target path from the pallet pose adjusting position to the goods unloading position, and ensuring the accuracy of the planned target path. And based on the target path, the vehicle runs from the position of the tray pose adjustment to the goods unloading position to unload the target goods, so that the accuracy of the position of the unloaded target goods is ensured. By the aid of the device, when the target forklift runs to the position for adjusting the pose of the pallet, namely before the target forklift runs to the goods unloading position, the pose of the pallet of the target forklift is compensated, and accuracy of the target pose corresponding to the pallet of the target forklift is guaranteed. The problem of in the freight transportation process, because jolt the reason such as lead to the tray to take place the position appearance skew for target fork truck, finally lead to putting the improper problem of causing the incident of position appearance of goods is solved.
According to a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory and a processor, where the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions, so as to perform the cargo unloading method in the first aspect or any one of the implementation manners of the first aspect.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the cargo unloading method in the first aspect or any one of the implementation manners of the first aspect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a cargo unloading method provided by an embodiment of the invention;
fig. 2 is a flowchart of a cargo unloading method according to another embodiment of the present invention;
fig. 3 is a flowchart of a cargo unloading method according to another embodiment of the present invention;
fig. 4 is a flowchart of a cargo unloading method according to another embodiment of the present invention;
fig. 5 is a flowchart of a cargo unloading method according to another embodiment of the present invention;
fig. 6 is a functional block diagram of a cargo unloader provided by an embodiment of the present invention;
fig. 7 is a schematic diagram of a hardware structure of an electronic device to which an embodiment of the present invention is applied.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that in the method for unloading goods provided in this embodiment of the present application, an execution subject of the method may be a device for unloading goods, and the device for unloading goods may be implemented as part or all of an electronic device in a software, hardware, or a combination of software and hardware, where the electronic device may be a control device in a target forklift, may also be a terminal device or a server device connected to the target forklift but independent of the target forklift, where the server in this embodiment of the present application may be one server, or may also be a server cluster composed of multiple servers, and a terminal in this embodiment of the present application may be another intelligent hardware device such as a smart phone, a personal computer, a tablet computer, a wearable device, and an intelligent robot. In the following method embodiments, the execution subject is an electronic device as an example.
In an embodiment of the present application, as shown in fig. 1, a cargo unloading method is provided, which is described by taking an example of applying the method to an electronic device, and includes the following steps:
s11, acquiring a goods unloading position corresponding to the target goods on the pallet of the target forklift.
In an optional implementation manner of the application, the electronic device may receive a goods unloading position, which is input by a user and corresponds to a target good on a pallet of a target forklift, and may also receive a goods unloading position, which is sent by another device and corresponds to a target good on a pallet of a target forklift.
The method for acquiring the goods unloading position corresponding to the target goods on the pallet of the target forklift by the electronic equipment is not particularly limited.
And S12, determining the position of the tray pose adjustment corresponding to the target forklift according to the goods unloading position.
In an optional implementation manner of the application, after the electronic device acquires the goods unloading position, the position of the pallet pose adjustment position corresponding to the target forklift can be determined at a position away from the goods unloading position by a preset distance according to the goods unloading position.
Please refer to this step in detail below.
And S13, when the target forklift runs to the position for adjusting the pose of the tray, adjusting the pose of the tray corresponding to the target forklift to obtain the target pose corresponding to the tray.
In an optional implementation manner of the application, when the target forklift runs to the position for adjusting the pose of the pallet, the electronic device may acquire the current pose of the pallet of the target forklift, and then, the electronic device may adjust the pose of the pallet corresponding to the target forklift by controlling an execution assembly in the target forklift to obtain the target pose corresponding to the pallet.
Details regarding this step will be described below.
And S14, planning a target path from the tray pose adjusting position to the cargo unloading position according to the relation among the target pose, the tray pose adjusting position and the cargo unloading position.
In an optional implementation manner of the application, after the electronic device adjusts the pose of the pallet corresponding to the target forklift to obtain the target pose corresponding to the pallet, the electronic device may plan the target path from the pallet pose adjustment position to the cargo unloading position according to the target pose corresponding to the pallet.
Details regarding this step will be described below.
And S15, based on the target path, driving from the tray pose adjusting position to a goods unloading position, and unloading the target goods.
Specifically, after the electronic device plans the target path from the pallet pose adjustment position to the cargo unloading position, the electronic device may control the target forklift to travel from the pallet pose adjustment position to the cargo unloading position, and control the target forklift to unload the target cargo.
According to the goods unloading method provided by the embodiment of the invention, the goods unloading position corresponding to the target goods on the pallet of the target forklift is obtained, then the position and posture adjustment position of the pallet corresponding to the target forklift is determined according to the goods unloading position, and the accuracy of the determined position and posture adjustment position of the pallet corresponding to the target forklift is ensured. When the target forklift runs to the tray pose adjusting position, the pose of the tray corresponding to the target forklift is adjusted to obtain the target pose corresponding to the tray, so that the pose compensation of the tray pose deviation generated from the completion of loading goods to the running of the target forklift to the tray pose adjusting position is realized, and the accuracy of the obtained target pose corresponding to the tray is ensured. And then, according to the relation among the target pose, the pallet pose adjusting position and the goods unloading position, planning a target path from the pallet pose adjusting position to the goods unloading position, and ensuring the accuracy of the planned target path. And based on the target path, the vehicle runs from the position of the tray pose adjustment to the goods unloading position to unload the target goods, so that the accuracy of the position of the unloaded target goods is ensured. According to the method, when the target forklift runs to the position for adjusting the pose of the pallet, namely before the target forklift runs to the position for unloading goods, the pose of the pallet of the target forklift is compensated, and the accuracy of the target pose corresponding to the pallet of the target forklift is guaranteed. The problem of in the freight transportation process, because jolt etc. cause the tray to take place the position appearance skew for target fork truck, finally lead to putting the improper position appearance of goods and cause the incident is solved.
In an embodiment of the present application, as shown in fig. 2, a cargo unloading method is provided, which is described by taking an example of the method applied to an electronic device, and includes the following steps:
s21, acquiring a goods unloading position corresponding to the target goods on the pallet of the target forklift.
Please refer to fig. 1 for an introduction of S11, which is not described herein.
And S22, determining the position of the tray pose adjustment corresponding to the target forklift according to the goods unloading position.
In an optional embodiment of the application, the step S21 "acquiring a cargo unloading position corresponding to a target cargo on a pallet of a target forklift," may include the following steps:
and S221, acquiring an initial planning track corresponding to the position of the target forklift when the target forklift runs to the unloading position of the goods.
In an optional embodiment of the application, the electronic device may receive an initial planning trajectory corresponding to the position from the goods loading position to the goods unloading position after the target forklift is loaded with the target goods, which is input by a user, may also receive an initial planning trajectory corresponding to the position from the goods loading position to the goods unloading position after the target forklift is loaded with the target goods, which is sent by another device, and may also plan the initial planning trajectory corresponding to the position from the goods loading position to the goods unloading position by using a path planning algorithm according to the goods loading position and the goods unloading position.
The path planning algorithm can be a simulated annealing algorithm, an artificial potential field method, a fuzzy logic algorithm, a tabu search algorithm and the like, and the path planning algorithm is not particularly limited in the embodiment of the application.
The method and the device for acquiring the initial planning track corresponding to the position where the target forklift runs to the goods unloading position are not specifically limited.
And S222, determining a position which is on the initial planning track and is a preset distance away from the cargo unloading position, and adjusting the position of the tray pose.
Specifically, after the electronic device acquires an initial planning track corresponding to the position where the target forklift travels to the goods unloading position, the electronic device may determine a position on the initial planning track that is a preset distance away from the goods unloading position, and the position is used as a pallet pose adjustment position.
The preset distance may be 100 meters, 50 meters, or 35 meters, and the preset distance is not specifically limited in the embodiments of the present application.
And S23, when the target forklift runs to the position for adjusting the pose of the tray, adjusting the pose of the tray corresponding to the target forklift to obtain the target pose corresponding to the tray.
For this step, please refer to fig. 1 for description of S13, which is not described herein.
And S24, planning a target path from the tray pose adjusting position to the cargo unloading position according to the relation among the target pose, the tray pose adjusting position and the cargo unloading position.
For this step, please refer to fig. 1 for the description of S14, which is not described herein.
And S25, based on the target path, driving from the tray pose adjusting position to a goods unloading position, and unloading the target goods.
For this step, please refer to fig. 1 for description of S15, which is not described herein.
According to the goods unloading method provided by the embodiment of the invention, the initial planning track corresponding to the goods unloading position when the target forklift runs is obtained, then, the position which is a preset distance away from the goods unloading position on the initial planning track is determined, the position is adjusted for the position of the tray pose, and the accuracy of the determined position of the tray pose is ensured.
In an embodiment of the present application, as shown in fig. 3, a cargo unloading method is provided, which is described by taking an example of the method applied to an electronic device, and includes the following steps:
s31, acquiring a goods unloading position corresponding to the target goods on the pallet of the target forklift.
Please refer to fig. 2 for an introduction of S21 for this step, which is not described herein.
And S32, determining the position of the pallet pose adjustment corresponding to the target forklift according to the goods unloading position.
For this step, please refer to fig. 2 for description of S22, which is not described herein.
And S33, when the target forklift runs to the position for adjusting the posture of the tray, adjusting the posture of the tray corresponding to the target forklift to obtain the target posture corresponding to the tray.
In an optional implementation manner of the application, in the step S33, "when the target forklift travels to the pallet pose adjustment position, the pose of the pallet corresponding to the target forklift is adjusted to obtain the target pose corresponding to the pallet", and the method may include the following steps:
and S331, when the target forklift runs to the position for adjusting the pose of the pallet, acquiring the current pose of the pallet corresponding to the target forklift.
In an optional implementation manner of the application, when the target forklift runs to the position where the tray pose is adjusted, the electronic device may acquire an image of the tray corresponding to the target forklift based on the shooting device, and then identify the image to determine the current pose of the tray corresponding to the target forklift.
In an optional implementation manner of the application, in step S331, "when the target forklift travels to the pallet pose adjustment position, acquiring the current pose of the pallet corresponding to the target forklift," may include the following steps:
(1) And when the target forklift runs to the position for adjusting the pose of the tray, acquiring initial point cloud data corresponding to the tray.
(2) And analyzing the initial point cloud data, and determining the current pose of the pallet corresponding to the target forklift.
In an optional implementation manner of the application, when the target forklift runs to the position of the tray pose adjustment, the electronic device may acquire initial point cloud data corresponding to the tray sent by the laser radar based on the connection with the laser radar.
And then, the electronic equipment carries out modeling processing on the initial point cloud data, and determines the current pose of the tray corresponding to the target forklift according to the modeled model.
In an optional embodiment of the application, the step (2) "analyzing the initial point cloud data to determine the current pose of the pallet corresponding to the target forklift", may include the following steps:
(21) Constructing an initial point cloud model corresponding to the tray based on the initial point cloud data;
(22) Acquiring an actual point cloud model corresponding to the tray;
(23) Matching the initial point cloud model with the actual point cloud model;
(24) Deleting redundant point cloud data except the point cloud data corresponding to the tray in the initial point cloud data according to the matching result to obtain target point cloud data corresponding to the tray;
(25) And determining the current pose of the pallet corresponding to the target forklift based on the target point cloud data.
Specifically, when the target forklift runs to the position of the tray pose adjustment, the electronic device may establish an initial point cloud model corresponding to the tray based on the initial point cloud data after acquiring the initial point cloud data corresponding to the tray sent by the laser radar based on the connection between the electronic device and the laser radar.
Then, the electronic device may receive the actual point cloud model corresponding to the tray input by the user, and may also receive the actual point cloud model corresponding to the tray sent by other devices.
After receiving the actual point cloud model corresponding to the pallet, the electronic device may match the initial point cloud model with the actual point cloud model.
In an optional embodiment of the present application, the electronic device may obtain key point cloud data in the initial point cloud model and the actual point cloud model, where the key point cloud data may be point cloud data corresponding to four corners of a tray in the initial point cloud model and the actual point cloud model, or may be other point cloud data. And then, the electronic equipment performs position matching on the initial point cloud model and the actual point cloud model according to the key point cloud data in the initial point cloud model and the actual point cloud model.
And the electronic equipment determines redundant point cloud data in the initial point cloud data according to the matching result of the initial point cloud model and the actual point cloud model, deletes the redundant point cloud data except the point cloud data corresponding to the tray in the initial point cloud data, and obtains target point cloud data corresponding to the tray. The redundant point cloud data refers to point cloud data other than the point cloud data corresponding to the tray.
And then, modeling the target point cloud data again by the electronic equipment to obtain a target point cloud model, and determining the current pose of the pallet corresponding to the target forklift according to the target point cloud model.
S332, acquiring a preset pose of the pallet in a coordinate system of the target forklift when the target forklift runs to the position for adjusting the pose of the pallet.
Specifically, when the electronic device obtains the current pose of the pallet when the target forklift runs to the pallet pose adjustment position, the electronic device can receive the preset pose of the pallet in the target forklift coordinate system, which is input by a user, and also can receive the preset pose of the pallet in the target forklift coordinate system, which is sent by other devices, and can determine the preset pose of the pallet in the target forklift coordinate system according to the previous planning.
According to the embodiment of the application, when the electronic equipment acquires that the target forklift runs to the position of the tray pose adjustment position, the mode of the preset pose of the tray under the coordinate system of the target forklift is not specifically limited.
And S333, adjusting the current pose according to the relation between the current pose and the preset pose to obtain the target pose.
In an optional implementation manner of the present application, the step S333 "adjusting the current pose according to the relationship between the current pose and the preset pose to obtain the target pose" may include the following steps:
(1) Converting the current pose into a real pose of the pallet under the coordinates of the target forklift;
(2) Calculating a pose transformation matrix between the real pose and a preset pose;
(3) And adjusting the real pose according to the pose conversion matrix to obtain the target pose.
Specifically, after the electronic device acquires the preset pose of the tray in the coordinate system of the target forklift, in order to ensure that the current pose and the preset pose are in the same coordinate system and to ensure that the pose of the tray is convenient to adjust, the electronic device can convert the coordinate system of the current pose into the real pose of the tray in the coordinate system of the target forklift.
Then, the electronic equipment compares the real pose corresponding to the tray with a preset pose, and calculates a pose transformation matrix between the real pose and the preset pose. And the electronic equipment adjusts the real pose according to the pose conversion matrix to obtain the target pose.
And S34, planning a target path from the tray pose adjusting position to the cargo unloading position according to the relation among the target pose, the tray pose adjusting position and the cargo unloading position.
For this step, please refer to fig. 2 for the description of S24, which is not repeated herein.
And S35, based on the target path, driving from the tray pose adjusting position to a goods unloading position, and unloading the target goods.
Please refer to fig. 2 for an introduction of S25 for this step, which is not described herein.
According to the goods unloading method provided by the embodiment of the invention, when the target forklift runs to the position and posture adjustment position of the tray, initial point cloud data corresponding to the tray is obtained; and an initial point cloud model corresponding to the tray is constructed based on the initial point cloud data, so that the accuracy of the constructed initial point cloud model is ensured. Acquiring an actual point cloud model corresponding to the tray; matching the initial point cloud model with the actual point cloud model; and deleting redundant point cloud data except the point cloud data corresponding to the tray in the initial point cloud data according to the matching result to obtain target point cloud data corresponding to the tray, so that the accuracy of the obtained target point cloud data corresponding to the tray is ensured. Then, the current pose of the tray corresponding to the target forklift is determined based on the target point cloud data, the accuracy of the determined current pose of the tray corresponding to the target forklift is guaranteed, and the influence of redundant point cloud data on the target point cloud data is avoided, so that the influence of multi-cloud point cloud data on the current pose of the tray is avoided. Then, acquiring a preset pose of the pallet in a coordinate system of the target forklift when the target forklift runs to the pallet pose adjusting position; and converting the current pose into a real pose of the pallet under the coordinates of the target forklift, so that the real pose obtained by conversion is ensured to be under the coordinates of the target forklift, the real pose corresponding to the pallet obtained by conversion is ensured to be under the same coordinate system with the preset pose, and the accuracy of comparing the real pose with the preset pose can be ensured. And then, calculating a pose transformation matrix between the real pose and the preset pose, ensuring the accuracy of the pose transformation matrix obtained by calculation, adjusting the real pose according to the pose transformation matrix to obtain the pose of the target, and ensuring the accuracy of the obtained pose of the target.
In an embodiment of the present application, as shown in fig. 4, a cargo unloading method is provided, which is described by taking an example of the method applied to an electronic device, and includes the following steps:
and S41, acquiring a goods unloading position corresponding to the target goods on the pallet of the target forklift.
For this step, please refer to fig. 3 for description of S31, which is not described herein.
And S42, determining the position of the tray pose adjustment corresponding to the target forklift according to the goods unloading position.
For this step, please refer to fig. 3 for description of S32, which is not described herein.
And S43, when the target forklift runs to the position for adjusting the posture of the tray, adjusting the posture of the tray corresponding to the target forklift to obtain the target posture corresponding to the tray.
Please refer to fig. 3 for a description of S33 for this step, which is not described herein.
And S44, planning a target path from the tray pose adjusting position to the goods unloading position according to the relation among the target pose, the tray pose adjusting position and the goods unloading position.
In an optional implementation manner of the present application, the step S44 "planning a target path from the pallet pose adjustment position to the cargo unloading position according to a relationship among the target pose, the pallet pose adjustment position, and the cargo unloading position" may include the following steps:
and S441, determining the stop position of the target forklift according to the relation between the target pose and the goods unloading position.
Specifically, the electronic device may determine the stop position of the target forklift according to the relationship between the target pose and the cargo unloading position.
For example, the electronic device may determine, according to a relationship between the target pose and the cargo unloading position, at which position the target forklift should stop, and unload the target cargo to the cargo unloading position under the condition that the target pose of the pallet is not fixed, thereby determining the stop position of the target forklift.
And S442, planning a target path between the position of the target forklift from the position of the tray pose adjustment to the stop position by using a preset path planning algorithm.
Specifically, after determining the stop position of the target forklift, the electronic device may plan the target path of the target forklift from the pallet pose adjustment position to the stop position by using a preset path planning algorithm.
The path planning algorithm can be a simulated annealing algorithm, an artificial potential field method, a fuzzy logic algorithm, a tabu search algorithm and the like, and the path planning algorithm is not particularly limited in the embodiment of the application.
And S45, based on the target path, driving from the tray pose adjusting position to a goods unloading position, and unloading the target goods.
In an optional embodiment of the application, the step S45 "of traveling from the pallet pose adjustment position to the cargo unloading position based on the target path to unload the target cargo" may include the following steps:
and S451, based on the target pose, driving from the position adjusted by the pose of the tray to the stop position according to the target path, and unloading the target goods to the goods unloading position at the stop position.
Specifically, after a target path between the pallet pose adjustment position and the stop position of the target forklift is obtained through planning, the electronic device can control the target forklift to travel from the pallet pose adjustment position to the stop position according to the target path on the premise that the target pose of the pallet relative to the target forklift is not changed, and unload the target goods to the goods unloading position at the stop position.
According to the cargo unloading method provided by the embodiment of the invention, the stop position of the target forklift is determined according to the relation between the target pose and the cargo unloading position, so that the accuracy of the determined stop position corresponding to the target forklift is ensured. And then, a preset path planning algorithm is utilized to plan a target path from the tray pose adjusting position to the stopping position of the target forklift, so that the accuracy of the determined target path is ensured. Then, based on the target pose, the target goods are unloaded to the goods unloading position at the stop position according to the target path from the pallet pose adjusting position to the stop position, so that the target goods can be accurately unloaded to the goods unloading position, the unloading accuracy of the target goods is ensured, and the problem of safety accidents caused by improper placing pose of the target goods is solved.
In order to better explain the cargo unloading method provided by the embodiment of the present application, how the target forklift unloads the target cargo to the cargo unloading position is described below by a specific embodiment. In this embodiment of the application, as shown in fig. 5, the electronic device may include an operation instruction issuing module, a decision master control module, a tray pose detection module, a point cloud matching module, a pose calculation module, a forklift positioning module, a path planning module, and a chassis control module, where a target forklift performs a cargo handling operation in a campus, and handles a target cargo from a point a inside the campus to a point B inside the campus. The working personnel operates the operation instruction platform to send the carrying operation instruction to the electronic equipment corresponding to the target forklift, wherein the carrying operation instruction comprises a cargo loading position, a loading position and an unloading position of the target cargo and an unloading position of the target cargo. After receiving the operation instruction information, the electronic equipment corresponding to the target forklift firstly arrives at a cargo loading position to insert and fetch the target cargo, and due to the fact that errors exist in the whole target forklift system, pose deviation can be caused when the pallet is loaded; after the loading of the pallet is finished, the pallet runs to a point B (namely a goods unloading position) of the park from the current point, and the relative pose change of the pallet on the target forklift can be caused due to road jolt, acceleration and deceleration and turning in the process; due to the fact that position and posture deviation of the tray is caused by loading and transporting, the unloading is directly carried out, and the unloading precision of the goods is difficult to guarantee. Therefore, before arriving at the unloading point B, the target forklift arrives at the position for adjusting the pose of the pallet. After the target forklift reaches the tray pose adjusting position, an operation instruction issuing module in the electronic equipment issues a tray pose adjusting instruction. Then, a decision main control module in the electronic device can acquire the current state of the target forklift, then after the decision main control module acquires the state that the target forklift reaches the tray pose adjusting position, a tray pose detection instruction is issued to a tray pose detection module, the tray pose detection module acquires point cloud data of a tray on the target forklift through a sensor, the point cloud data are sent to a point cloud matching module, point cloud data information is matched according to the preset pose of the tray, and meanwhile the detection module continuously sends real-time point cloud until the tray feature matching is successful. The pose calculation module is used for solving the relative pose of the pallet on the target forklift relative to the forklift, converting the relative pose into a global coordinate system, and generating a pose conversion matrix relative to the unloading point B, wherein the pose conversion matrix is used for representing the influence of the relative pose of the current pallet on the unloading point; the planning module adds a conversion matrix for pose compensation on the basis of the original unloading point B, calculates a new unloading point B ', compensates all errors before unloading on the basis of the original unloading point B, enables the position and the attitude angle to be more matched with the current tray state, acquires the pose of the current target forklift from the positioning module, and plans a driving path by taking the current position as a starting point and the unloading point B' as a terminal point; and the control module drives to the point B' according to the path to finish the unloading operation of the goods or the pallets, so that the unloading precision is improved.
It should be understood that although the various steps in the flow charts of fig. 1-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
As shown in fig. 6, the present embodiment provides a cargo unloading apparatus including:
the acquisition module 51 is used for acquiring a goods unloading position corresponding to the target goods on the pallet of the target forklift;
the determining module 52 is configured to determine a tray pose adjustment position corresponding to the target forklift according to the cargo unloading position;
the adjusting module 53 is configured to adjust the pose of the tray corresponding to the target forklift when the target forklift runs to the tray pose adjusting position, so as to obtain a target pose corresponding to the tray;
a planning module 54 for planning a target path from the pallet pose adjustment position to the cargo unloading position according to a relationship among the target pose, the pallet pose adjustment position, and the cargo unloading position;
and the unloading module 55 is used for driving from the tray pose adjustment position to the cargo unloading position based on the target path to unload the target cargo.
In an embodiment of the application, the determining module 52 is specifically configured to obtain an initial planned trajectory corresponding to when the target forklift travels to the cargo unloading position; and determining the position on the initial planning track, which is a preset distance away from the goods unloading position, and taking the position as a tray pose adjusting position.
In an embodiment of the application, the adjusting module 53 is specifically configured to, when the target forklift runs to the pallet pose adjusting position, acquire a current pose of a pallet corresponding to the target forklift; acquiring a preset pose of the pallet in a coordinate system of the target forklift when the target forklift runs to the pallet pose adjusting position; and adjusting the current pose according to the relation between the current pose and the preset pose to obtain the target pose.
In an embodiment of the application, the adjusting module 53 is specifically configured to obtain initial point cloud data corresponding to the pallet when the target forklift travels to the pallet pose adjusting position; and analyzing the initial point cloud data, and determining the current pose of the pallet corresponding to the target forklift.
In an embodiment of the present application, the adjusting module 53 is specifically configured to construct an initial point cloud model corresponding to the tray based on the initial point cloud data; acquiring an actual point cloud model corresponding to the tray; matching the initial point cloud model with the actual point cloud model; deleting redundant point cloud data except the point cloud data corresponding to the tray in the initial point cloud data according to the matching result to obtain target point cloud data corresponding to the tray; and determining the current pose of the tray corresponding to the target forklift based on the target point cloud data.
In an embodiment of the present application, the adjusting module 53 is specifically configured to perform coordinate system transformation on the current pose and convert the current pose into a real pose of the pallet in the coordinates of the target forklift; calculating a pose transformation matrix between the real pose and a preset pose; and adjusting the real pose according to the pose transformation matrix to obtain the pose of the target.
In an embodiment of the present application, the planning module 54 is specifically configured to determine a stop position of the target forklift according to a relationship between the target pose and the cargo unloading position; planning a target path of the target forklift from a tray pose adjusting position to a stopping position by using a preset path planning algorithm;
correspondingly, the unloading module 55 is specifically configured to drive from the pallet pose adjustment position to the stop position according to the target path based on the target pose, and unload the target cargo to the cargo unloading position at the stop position.
For specific limitations and advantages of the cargo unloading device, reference may be made to the above limitations of the cargo unloading method, which will not be described herein again. The modules in the unloading device can be realized by software, hardware and their combination. The modules can be embedded in a hardware form or independent of a processor in the electronic device, or can be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.
An embodiment of the present invention further provides an electronic device, which has the cargo unloading device shown in fig. 6.
As shown in fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to an alternative embodiment of the present invention, and as shown in fig. 7, the electronic device may include: at least one processor 61, such as a CPU (Central Processing Unit), at least one communication interface 63, memory 64, at least one communication bus 62. Wherein a communication bus 62 is used to enable the connection communication between these components. The communication interface 63 may include a Display (Display) and a Keyboard (Keyboard), and the optional communication interface 63 may also include a standard wired interface and a standard wireless interface. The Memory 64 may be a high-speed RAM Memory (volatile Random Access Memory) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory 64 may optionally be at least one memory device located remotely from the processor 61. Wherein the processor 61 may be in connection with the apparatus described in fig. 6, the memory 64 stores an application program, and the processor 61 calls the program code stored in the memory 64 for performing any of the above-mentioned method steps.
The communication bus 62 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 62 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
The memory 64 may include a volatile memory (RAM), such as a random-access memory (RAM); the memory may also include a non-volatile memory (english: flash memory), such as a Hard Disk Drive (HDD) or a solid-state drive (SSD); the memory 64 may also comprise a combination of the above kinds of memories.
The processor 61 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of CPU and NP.
The processor 61 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
Optionally, the memory 64 is also used to store program instructions. The processor 61 may call program instructions to implement the cargo unloading method as shown in the embodiments of fig. 1 to 4 of the present application.
An embodiment of the present invention further provides a non-transitory computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions may execute the cargo unloading method in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A cargo unloading method, comprising:
acquiring a goods unloading position corresponding to a target goods on a pallet of a target forklift;
determining a pallet pose adjusting position corresponding to the target forklift according to the goods unloading position;
when the target forklift runs to the position for adjusting the posture of the tray, adjusting the posture of the tray corresponding to the target forklift to obtain the target posture corresponding to the tray;
planning a target path from the pallet pose adjustment position to the cargo unloading position according to the relation among the target pose, the pallet pose adjustment position and the cargo unloading position;
and driving from the tray pose adjusting position to the cargo unloading position based on the target path, and unloading the target cargo.
2. The method according to claim 1, wherein when the target forklift travels to the pallet pose adjustment position, adjusting the pose of the pallet corresponding to the target forklift to obtain the target pose corresponding to the pallet, comprises:
when the target forklift runs to the position for adjusting the pose of the tray, acquiring the current pose of the tray corresponding to the target forklift;
acquiring a preset pose of the pallet in a coordinate system of the target forklift when the target forklift runs to the position for adjusting the pose of the pallet;
and adjusting the current pose according to the relation between the current pose and the preset pose to obtain the target pose.
3. The method according to claim 2, wherein the acquiring the current pose of the pallet corresponding to the target forklift when the target forklift travels to the pallet pose adjustment position comprises:
when the target forklift runs to the position for adjusting the pose of the tray, acquiring initial point cloud data corresponding to the tray;
and analyzing the initial point cloud data, and determining the current pose of the pallet corresponding to the target forklift.
4. The method of claim 3, wherein the analyzing the initial point cloud data to determine the current pose of the pallet corresponding to the target forklift comprises:
constructing an initial point cloud model corresponding to the tray based on the initial point cloud data;
acquiring an actual point cloud model corresponding to the tray;
matching the initial point cloud model with the actual point cloud model;
deleting redundant point cloud data except the point cloud data corresponding to the tray in the initial point cloud data according to a matching result to obtain target point cloud data corresponding to the tray;
and determining the current pose of the pallet corresponding to the target forklift based on the target point cloud data.
5. The method according to claim 2, wherein the adjusting the current pose according to the relationship between the current pose and the preset pose to obtain the target pose comprises:
converting the current pose into a real pose of the pallet under the coordinates of the target forklift;
calculating a pose transformation matrix between the real pose and the preset pose;
and adjusting the real pose according to the pose conversion matrix to obtain the target pose.
6. The method according to claim 1, wherein the determining the pallet pose adjustment position corresponding to the target forklift according to the cargo unloading position comprises:
acquiring an initial planning track corresponding to the condition that the target forklift runs to the goods unloading position;
and determining a position on the initial planning track, which is a preset distance away from the cargo unloading position, as the position for adjusting the pose of the pallet.
7. The method of claim 1, wherein the planning a target path from the pallet pose adjustment position to the cargo unloading position according to a relationship between the target pose, the pallet pose adjustment position, and the cargo unloading position comprises:
determining the stop position of the target forklift according to the relation between the target pose and the cargo unloading position;
planning the target path of the target forklift from the tray pose adjustment position to the stop position by using a preset path planning algorithm;
correspondingly, the method for unloading the target cargo by driving from the pallet pose adjustment position to the cargo unloading position based on the target path comprises the following steps:
and based on the target pose, driving from the tray pose adjustment position to the stop position according to the target path, and unloading the target cargo to the cargo unloading position at the stop position.
8. A cargo unloader, comprising:
the acquisition module is used for acquiring a goods unloading position corresponding to the target goods on the pallet of the target forklift;
the determining module is used for determining a tray pose adjusting position corresponding to the target forklift according to the goods unloading position;
the adjusting module is used for adjusting the pose of the tray corresponding to the target forklift to obtain the target pose corresponding to the tray when the target forklift runs to the position for adjusting the pose of the tray;
a planning module for planning a target path from the pallet pose adjustment position to the cargo unloading position according to a relationship among the target pose, the pallet pose adjustment position, and the cargo unloading position;
and the unloading module is used for driving the pallet pose adjusting position to the cargo unloading position based on the target path, and unloading the target cargo.
9. An electronic device, comprising a memory and a processor, wherein the memory stores computer instructions, and the processor executes the computer instructions to perform the cargo unloading method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions for causing a computer to execute the cargo unloading method according to any one of claims 1-7.
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| CN117521936A (en) * | 2024-01-04 | 2024-02-06 | 未来机器人（深圳）有限公司 | Scheduling method and device of carrying equipment and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117521936A (en) * | 2024-01-04 | 2024-02-06 | 未来机器人（深圳）有限公司 | Scheduling method and device of carrying equipment and electronic equipment |
| CN117521936B (en) * | 2024-01-04 | 2024-05-07 | 未来机器人（深圳）有限公司 | Scheduling method and device of carrying equipment and electronic equipment |
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