CN116101939A - Cargo handling method, unmanned forklift and storage medium - Google Patents
Cargo handling method, unmanned forklift and storage medium Download PDFInfo
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- CN116101939A CN116101939A CN202310144097.2A CN202310144097A CN116101939A CN 116101939 A CN116101939 A CN 116101939A CN 202310144097 A CN202310144097 A CN 202310144097A CN 116101939 A CN116101939 A CN 116101939A
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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
- B66F9/063—Automatically guided
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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
- B66F9/07581—Remote controls
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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
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The embodiment of the application discloses a cargo handling method, an unmanned forklift and a storage medium, wherein the method is applied to the unmanned forklift, and an omnidirectional wheel is arranged at a chassis of the unmanned forklift; the method comprises the following steps: receiving a first scheduling instruction; the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first ending point position; responding to the first scheduling instruction, controlling the omni-wheel to move omnidirectionally, forking the first goods to the first position and carrying the first goods from the first position to the first end position. By implementing the embodiment of the application, automatic carrying operation can be realized under the narrow roadway scene.
Description
Technical Field
The application relates to the technical field of automation, in particular to a cargo handling method, an unmanned forklift and a storage medium.
Background
With the continuous promotion of intelligent manufacturing and the continuous rise of labor cost, unmanned forklifts gradually become important handling tools for modern logistics transportation. However, aiming at the situation that the workshop logistics transportation channel is relatively narrow, the existing unmanned forklift cannot move in all directions on a narrow roadway due to the large turning radius, so that automatic carrying operation cannot be realized on the narrow roadway scene.
Disclosure of Invention
The embodiment of the application discloses a cargo handling method, an unmanned forklift and a storage medium, which can realize automatic handling operation under a narrow roadway scene.
The embodiment of the application discloses a cargo handling method which is applied to an unmanned forklift; an omnidirectional wheel is arranged at the chassis of the unmanned forklift; the unmanned forklift is in communication connection with the central control equipment; the method comprises the following steps:
receiving a first scheduling instruction; the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first ending point position;
and responding to the first scheduling instruction, controlling the omni-wheel to move omnidirectionally, forking first cargoes to the first starting point position, and carrying the first cargoes from the first starting point position to the first end point position.
In one embodiment, four omni-wheels and driving devices respectively corresponding to the four omni-wheels are arranged at the chassis of the unmanned forklift; the driving device drives the omnidirectional wheel to move omnidirectionally.
In one embodiment, the unmanned forklift is further provided with a laser radar sensor; the method further comprises the steps of:
acquiring point cloud data of a surrounding environment area of the unmanned forklift through the laser radar sensor;
determining a navigation path of the unmanned forklift based on the point cloud data;
and generating a driving signal according to the navigation path, and sending the driving signal to driving devices respectively corresponding to the four omni-wheels so as to drive the four omni-wheels to perform omni-directional movement.
In one embodiment, the method further comprises:
when the distance between the unmanned forklift and the obstacle is detected to be smaller than a distance threshold, an obstacle avoidance signal is generated and sent to driving devices respectively corresponding to the four omni-directional wheels, so that the unmanned forklift is driven to move in a direction away from the obstacle.
In one embodiment, the routing to the first point of origin forks the first cargo, comprising:
the method comprises the steps of going to a first starting point position, detecting offset between a fork of the unmanned forklift and first goods, and generating an adjusting signal based on the offset;
and sending the adjusting signals to driving devices respectively corresponding to the four omni-directional wheels so as to drive the four omni-directional wheels to displace and rotate according to the offset until the fork of the unmanned forklift aligns with the first goods, and forking the first goods.
In one embodiment, the method further comprises:
suspending responding to the first scheduling instruction when receiving a second scheduling instruction; the second scheduling instruction is generated when the central control equipment receives an emergency queue inserting request of a user, the emergency queue inserting request comprises a second starting point position and a second end point position, and the priority of the second scheduling instruction is higher than that of the first scheduling instruction;
responding to the second scheduling instruction, controlling the omnidirectional wheel to move omnidirectionally, and forking a second cargo to the second starting point position and carrying the second cargo from the second starting point position to the second ending point position;
restoring and responding to the first scheduling instruction.
In one embodiment, after the first cargo is transported from the first home location to the first end location, the method further comprises:
generating task completion feedback information, wherein the task completion feedback information is used for indicating that the first goods reach the first end position;
the task completion feedback information is sent to the central control equipment, so that the central control equipment generates a carrying completion report and a data deleting instruction according to the task completion feedback information; the data deletion instruction is used for clearing the cargo transferring request.
The embodiment of the application discloses an unmanned forklift, wherein an omnidirectional wheel is arranged at a chassis of the unmanned forklift; the unmanned forklift is in communication connection with the central control equipment; the unmanned forklift comprises:
the receiving module is used for receiving the first scheduling instruction; the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first ending point position;
and the response module is used for responding to the first scheduling instruction, controlling the omni-wheel to move omnidirectionally, forking first cargoes to the first starting point position, and carrying the first cargoes from the first starting point position to the first end point position.
The embodiment of the application discloses unmanned forklift, include:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the method of any of the embodiments described above.
The application discloses a computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to execute the method of any of the above embodiments.
By the goods handling method disclosed by the embodiment of the application, a first scheduling instruction generated by the central control equipment when receiving a goods transferring request of a user is received, wherein the goods transferring request comprises a first starting point position and a first end point position; responding to the first scheduling instruction, controlling the omni-wheel of the unmanned forklift to move omnidirectionally, forking first cargoes to the first starting point position, and carrying the first cargoes from the first starting point position to the first end point position. By implementing the embodiment of the application, the omni-directional wheel of the unmanned forklift is controlled to perform omni-directional movement in the process of carrying the first goods, so that the turning radius of the unmanned forklift is smaller, and therefore effective omni-directional movement and automatic carrying operation can be realized under a narrow roadway scene.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly explain the drawings needed in the embodiments, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an application scenario of a cargo handling method disclosed in an embodiment of the present application;
FIG. 2 is a flow chart of a method of cargo handling disclosed in an embodiment of the present application;
FIG. 3 is a flow chart of another cargo handling method disclosed in an embodiment of the present application;
FIG. 4 is a flow chart of another cargo handling method disclosed in an embodiment of the present application;
fig. 5 is a schematic structural diagram of an unmanned forklift according to an embodiment of the present disclosure; the method comprises the steps of carrying out a first treatment on the surface of the
Fig. 6 is a schematic structural view of another unmanned forklift according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings of the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be noted that the terms "comprises" and "comprising," along with any variations thereof, in the embodiments of the present application are intended to cover non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed.
The embodiment of the application discloses a cargo handling method, an unmanned forklift and a storage medium, which can realize automatic handling operation under a narrow roadway scene.
The following detailed description will be given with reference to the accompanying drawings.
As shown in fig. 1, fig. 1 is a schematic diagram of an application scenario of a cargo handling method disclosed in an embodiment of the present application, where the application scenario may include an unmanned forklift 10, a central control device 20, and a warehouse management system 30 (Warehouse Management System, WMS).
The unmanned forklift 10 is an automated guided transport vehicle (Automated Guided Vehicle, AGV) that may include, but is not limited to, a latent AGV, a backpack AGV, a counter-weight AGV, and the like.
The central control device 20 may include, but is not limited to, a cell phone, tablet computer, wearable device, notebook computer, PC (Personal Computer ), etc. The communication manner between the central control device 20 and the unmanned forklift 10, and the communication manner between the central control device 20 and the warehouse management system 30 may include, but are not limited to, wireless fidelity communication technology, bluetooth communication technology, zigBee (ZigBee) communication technology, RS485 wireless transmission technology, cellular communication technology, and other communication technologies, which are not specifically limited.
The warehouse management system 30 can realize inventory control, goods space management, allocation management, inventory statistics, warehouse in-out operation and the like on goods in a warehouse through warehouse management software, and can be used for reasonably arranging a purchasing plan and a sales strategy according to inventory conditions, recording the storage condition of each goods space, distributing different goods to different spaces according to requirements, counting the quantity of the goods entering and exiting the warehouse, completing the picking operation of goods in/out of the warehouse and the like. The warehouse management system 30 may generate a cargo transferring request of a user, where the cargo transferring request may include a first starting position and a first ending position, and the cargo transferring request may be generated by the warehouse management system 30 according to the first starting position and the first ending position input by the user; the first starting point position can be a warehouse position of a workshop, and the first end point position can be a warehouse position, which is not particularly limited; the warehouse management system 30 may send a user's cargo transferring request to the central control facility 20.
The central control device 20 may generate a first scheduling instruction when receiving a cargo transferring request of a user sent by the warehouse management system 30, where the first scheduling instruction is used to carry cargo from a first origin position to a first destination position; the central control apparatus 20 may send a first scheduling instruction to the unmanned forklift 10 to control the unmanned forklift 10 to carry the cargo from the first home position to the first end position.
The unmanned forklift 10 may receive a first scheduling instruction; the first scheduling instruction is generated by the central control apparatus 20 upon receiving a cargo transferring request from a user, the cargo transferring request including a first start position and a first end position; the unmanned forklift 10 can respond to the first scheduling instruction, control the omni-wheel to move omnidirectionally, move to the first position to fork the first goods, and carry the first goods from the first position to the first end position.
According to the embodiment, through data interaction among the unmanned forklift, the central control equipment and the warehouse management system, automatic carrying of the unmanned forklift can be achieved, and carrying efficiency is improved.
As shown in fig. 2, fig. 2 is a schematic flow chart of a cargo handling method disclosed in an embodiment of the present application, where the cargo handling method may be applied to an unmanned forklift, and an omni-wheel is disposed at a chassis of the unmanned forklift; the unmanned forklift is in communication connection with the central control equipment; the method of cargo handling may include the steps of:
201. a first scheduling instruction is received.
The unmanned forklift receives a first scheduling instruction, wherein the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first end point position.
In one embodiment, the warehouse management system 30 may generate a user's cargo transferring request, which may include a first starting location and a first ending location, where the cargo transferring request may be generated by the warehouse management system 30 based on the first starting location and the first ending location entered by the user. Illustratively, the first starting point position may be a location of a workshop, and the first ending point position may be a location of a warehouse, which is not particularly limited; alternatively, the locations of the workshops or warehouses may be provided with a tag device, which may include a Radio Frequency Identification (RFID) tag, a bar code, or the like. A user can scan and read the tag device corresponding to the library bit through a palm computer (Personal Digital Assistant, PDA) such as a bar code scanner, an RFID reader, etc. to obtain tag information of the library bit. The tag information of the library bit may be used to indicate library bit information of the library bit, such as a first start position and a first end position; the user can input the label information of the library position to the warehouse management system 30 through the palm computer, wherein the palm computer and the warehouse management system 30 can be in communication connection through Bluetooth, wireless fidelity (Wi-Fi) and other modes. The warehouse management system 30 may generate a cargo transferring request of the user according to the first starting position and the first ending position indicated by the label information of the warehouse location. The warehouse management system 30 may send a user's cargo transferring request to the central control facility 20.
202. Responding to the first scheduling instruction, controlling the omni-wheel to move omnidirectionally, forking the first goods to the first position and carrying the first goods from the first position to the first end position.
The unmanned forklift responds to the first scheduling instruction, controls the omni-directional wheel to move omnidirectionally, forks first cargoes to the first starting point position, and conveys the first cargoes from the first starting point position to the first end point position.
The omni Wheel may be a Mecanum Wheel (Mecanum Wheel), which is not particularly limited. The circumference of the omni wheel may be provided with a plurality of crowned rollers, each crowned roller having an outline coincident with the theoretical circumference of the wheel, ensuring continuity of contact between the wheel and the ground, and the rollers being free to rotate with their axes generally at 45 ° to the wheel axis. Each omni-wheel can have 3 degrees of freedom of movement, the first degree of freedom being the rotation of the wheel about its own axis driven by the motor, the second degree of freedom being the rotation of the roller about its own axis driven by friction, the third degree of freedom being the rotation of the wheel about its contact point with the ground. When the motor drives the wheel in rotation, the wheel advances in a direction perpendicular to the drive shaft while the rollers at the periphery of the wheel are free to rotate along their respective axes.
The unmanned forklift can be provided with the combination of three or more omnidirectional wheels, and through the cooperation of the rotation speed and the steering among the wheels, the moment in any direction can be synthesized, so that the unmanned forklift is driven to move in any direction, and the omnidirectional movement in a plane, namely the omnidirectional movement, is realized.
In some optional embodiments, four omni wheels and driving devices respectively corresponding to the four omni wheels are arranged at the chassis of the unmanned forklift; the driving device drives the omnidirectional wheel to move omnidirectionally.
The driving device may be a motor such as a dc brushless motor, a dc spindle motor, an ac spindle motor, a stepping motor, a dc servo motor, an ac servo motor, or the like. Each omni-wheel is driven by an independent driving device.
The structure of four omni-wheel combinations is adopted, so that the movement stability of the unmanned forklift can be improved.
In the embodiment of the application, a first scheduling instruction generated by the central control equipment when receiving a cargo transferring request of a user is received, wherein the cargo transferring request comprises a first starting point position and a first ending point position; responding to the first scheduling instruction, controlling the omni-wheel of the unmanned forklift to move omnidirectionally, forking first cargoes to the first starting point position, and carrying the first cargoes from the first starting point position to the first end point position. By implementing the embodiment of the application, the omni-directional wheel of the unmanned forklift is controlled to perform omni-directional movement in the process of carrying the first goods, so that the turning radius of the unmanned forklift is smaller, and therefore effective omni-directional movement and automatic carrying operation can be realized under a narrow roadway scene.
As shown in fig. 3, fig. 3 is a schematic flow chart of another cargo handling method disclosed in the embodiment of the present application, where the cargo handling method may be applied to the unmanned forklift in the above embodiment, and four omni-wheels and driving devices corresponding to the four omni-wheels are disposed at the chassis of the unmanned forklift; the driving device drives the omnidirectional wheel to move omnidirectionally; the method of cargo handling may include the steps of:
301. a first scheduling instruction is received.
The unmanned forklift receives a first scheduling instruction, wherein the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first end point position.
For the specific implementation of step 301, reference may be made to the above embodiments, and details are not repeated.
302. And responding to the first scheduling instruction, controlling the omni-directional wheels to perform omni-directional movement, generating an obstacle avoidance signal when detecting that the distance between the unmanned forklift and the obstacle is smaller than a distance threshold value, and sending the obstacle avoidance signal to driving devices respectively corresponding to the four omni-directional wheels so as to drive the unmanned forklift to move in a direction away from the obstacle.
In some alternative embodiments, the unmanned forklift may be provided with radar sensors, infrared ranging sensors, and distance sensors, which may be used to detect the distance between the unmanned forklift and the obstacle.
In other alternative embodiments, the unmanned forklift is further provided with a lidar sensor; the unmanned forklift can acquire point cloud data of surrounding areas of the unmanned forklift through the laser radar sensor, acquire three-dimensional coordinate values of the obstacle based on the point cloud data, acquire the three-dimensional coordinate values of the unmanned forklift in real time, and calculate the distance between the unmanned forklift and the obstacle according to the three-dimensional coordinate values of the obstacle and the three-dimensional coordinate values of the unmanned forklift.
The detection range of the laser radar sensor of the unmanned forklift can cover the surrounding environment area of the unmanned forklift, so that the laser radar sensor of the unmanned forklift can acquire point cloud data of the surrounding environment area of the unmanned forklift.
The distance threshold may be, for example, 10 cm to 50 cm, and is not particularly limited.
The obstacle avoidance signal is a signal for driving the four omni-directional wheels to move in the direction away from the obstacle, and because the omni-directional wheels can move in any direction, the unmanned forklift can flexibly and timely move in the direction away from the obstacle, and the flexibility of obstacle avoidance of the unmanned forklift is improved.
In other alternative embodiments, the unmanned forklift is further provided with a lidar sensor; the unmanned forklift further performs the following steps: acquiring point cloud data of a surrounding environment area of the unmanned forklift through a laser radar sensor; determining a navigation path of the unmanned forklift based on the point cloud data; according to the navigation path, a driving signal is generated and is sent to driving devices respectively corresponding to the four omni-directional wheels so as to drive the four omni-directional wheels to perform omni-directional movement.
The laser radar sensor can emit laser beams, the distance from the laser radar to a target point is calculated by measuring the time required for the laser beams to strike the surface of an object and reflect back, millions of data points can be obtained by rapidly repeating the process, and the laser radar sensor can construct a complex map of the surface of the space which is being measured, namely point cloud data. After preprocessing, clustering and tissue extraction are performed on the point cloud data through joint calculation, deviation correction and the like, a digital three-dimensional space which is easy to distinguish by human vision can be constructed, and each point in the digital three-dimensional space has a corresponding three-dimensional coordinate value.
The unmanned forklift can acquire three-dimensional coordinate values of all objects in the surrounding environment area in a digital three-dimensional space based on point cloud data of the surrounding environment area of the unmanned forklift, such as three-dimensional coordinate values of obstacles, three-dimensional coordinate values of first cargoes and the like, so that the unmanned forklift can plan a navigation path of the unmanned forklift according to the three-dimensional coordinate values of the objects, and accordingly obstacles can be avoided smoothly and the first cargoes can be forked.
The unmanned forklift can generate driving signals according to the navigation path, the driving signals can comprise target rotating speeds and target steering directions respectively corresponding to the four omni-directional wheels, and when the driving signals are received by the driving devices respectively corresponding to the four omni-directional wheels, the driving devices can drive the target rotating speeds and the target steering directions respectively corresponding to the four omni-directional wheels to move omnidirectionally.
Therefore, the unmanned forklift can determine an accurate navigation path through the laser radar sensor, and generate driving signals for driving the four omni-directional wheels to move omnidirectionally based on the navigation path, so that the efficiency of automatic carrying of the unmanned forklift under a narrow roadway scene is improved.
303. And going to the first starting point position, detecting the offset between the fork of the unmanned forklift and the first cargo, and generating an adjusting signal based on the offset.
The unmanned forklift is driven to a first starting point position, the offset between the fork of the unmanned forklift and the first goods is detected, and an adjusting signal is generated based on the offset.
In some alternative embodiments, the unmanned forklift is further provided with a lidar sensor; the unmanned forklift can acquire point cloud data of an ambient environment area of the unmanned forklift through the laser radar sensor, acquire a three-dimensional coordinate value of a first cargo based on the point cloud data, and acquire the three-dimensional coordinate value of the unmanned forklift in real time; based on the relative position between the fork of the unmanned forklift and the three-dimensional coordinate value of the unmanned forklift, obtaining the three-dimensional coordinate value of the fork of the unmanned forklift; according to the three-dimensional coordinate value of the fork of the unmanned forklift and the three-dimensional coordinate value of the first cargo, the offset between the fork of the unmanned forklift and the first cargo can be calculated, and an adjusting signal is generated based on the offset. The offset may include an offset angle and an offset distance, among others.
The adjusting signals are used for driving the four omni-directional wheels to displace and rotate according to the offset until the fork of the unmanned forklift is aligned with the first goods.
304. And sending the adjusting signals to driving devices respectively corresponding to the four omni-directional wheels so as to drive the four omni-directional wheels to displace and rotate according to the offset, and taking the first goods by forking until the fork of the unmanned forklift aligns with the first goods, and carrying the first goods from the first starting point to the first end point.
The unmanned forklift sends the adjusting signals to driving devices respectively corresponding to the four omni-directional wheels to drive the four omni-directional wheels to displace and rotate according to the offset, when the fork of the unmanned forklift aligns with the first goods, the first goods are forked, and the first goods are carried from the first starting point to the first end point.
For example, if the offset of the fork of the unmanned forklift with respect to the first cargo is 20 cm to the left and 20 degrees to the left, the unmanned forklift may uniformly shift the four omni-directional wheels to the right and rotate 20 degrees to the right by driving the driving device, so that the fork of the unmanned forklift is aligned with the first cargo.
Therefore, the displacement and rotation of the unmanned forklift can be flexibly adjusted through the omni-wheel, so that the unmanned forklift ground fork can be efficiently aligned to the goods, the efficiency and accuracy of fork goods taking are improved, and the goods carrying efficiency is further improved.
In the embodiment of the application, a first scheduling instruction generated by the central control equipment when receiving a cargo transferring request of a user is received, wherein the cargo transferring request comprises a first starting point position and a first ending point position; responding to the first scheduling instruction, controlling the omni-directional wheel of the unmanned forklift to perform omni-directional movement, and realizing flexible obstacle avoidance through the omni-directional wheel; and the unmanned forklift is flexibly and accurately aligned to the first goods through the omni-directional wheels when the unmanned forklift is moved to the first starting position, the first goods are forked, and the first goods are carried from the first starting position to the first end position. By implementing the embodiment of the application, the omnidirectional wheel of the unmanned forklift is controlled to move omnidirectionally in the process of carrying the first goods, so that the turning radius of the unmanned forklift is smaller, the effective omnidirectional movement can be realized under the narrow roadway scene, the goods can be effectively avoided, and the efficiency of automatic carrying operation is improved.
As shown in fig. 4, fig. 4 is a schematic flow chart of another cargo handling method disclosed in an embodiment of the present application, where the cargo handling method may be applied to the unmanned forklift in the above embodiment, and the cargo handling method may include the following steps:
401. a first scheduling instruction is received.
The unmanned forklift receives a first scheduling instruction, wherein the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first end point position.
402. And responding to the first scheduling instruction, and controlling the omni-wheel to perform omni-directional movement.
And the unmanned forklift responds to the first scheduling instruction and controls the omni-directional wheel to perform omni-directional movement.
For the specific implementation of steps 401 to 402, reference may be made to the above embodiments, and details are not repeated.
403. Upon receiving the second scheduling instruction, suspending responding to the first scheduling instruction.
The second scheduling instruction is generated when the central control device receives an emergency queue inserting request of a user, the emergency queue inserting request comprises a second starting point position and a second ending point position, and the priority of the second scheduling instruction is higher than that of the first scheduling instruction.
It should be noted that, the scheduling instruction may carry a priority, the unmanned forklift may compare the priorities of the scheduling instructions, and execute the scheduling instructions according to the high-low order of the priorities, for example, the unmanned forklift may execute the scheduling instruction with the highest priority preferentially, and suspend executing other scheduling instructions, and after the scheduling instruction with the highest priority is executed, continue executing the scheduling instruction with the next priority.
Therefore, the first scheduling instruction can carry the priority of the first scheduling instruction, the second scheduling instruction can carry the priority of the second scheduling instruction, and when the unmanned forklift recognizes that the priority of the second scheduling instruction is higher than that of the first scheduling instruction, the unmanned forklift pauses to respond to the first scheduling instruction and responds to the second scheduling instruction, so that the unmanned forklift can respond to an emergency task in time, the response efficiency of the unmanned forklift to the emergency task is improved, and the requirements of the emergency transport task can be met in time.
The emergency queue insertion request may be a request with highest priority generated by the warehouse management system 30 according to the second starting position and the second ending position input by the user, the priority of the emergency queue insertion request is higher than that of the cargo transferring request, and the user may set the priority of each request when inputting the cargo transferring request or the emergency queue insertion request; the second starting position may be a warehouse location of a workshop, and the second ending position may be a warehouse location, which is not particularly limited.
404. And responding to the second scheduling instruction, controlling the omni-wheel to perform omni-directional movement, moving to the second starting point position to fork the second goods, and carrying the second goods from the second starting point position to the second end point position.
And responding to the second scheduling instruction, controlling the omnidirectional wheel to move omnidirectionally by the unmanned forklift, forking the second goods to the second starting point position, and carrying the second goods from the second starting point position to the second ending point position.
405. And restoring to respond to the first scheduling instruction, and forking the first goods to the first starting point position and carrying the first goods from the first starting point position to the first end point position.
And the unmanned forklift resumes responding to the first dispatching instruction, and forwards the first dispatching instruction to the first position to fork the first goods, and carries the first goods from the first position to the first end position.
When the unmanned forklift executes the second dispatching instruction, namely, the second goods are transported to the second end position, the unmanned forklift can resume responding to the first dispatching instruction, and the unmanned forklift is used for forking the first goods from the second end position to the first end position and transporting the first goods from the first end position to the first end position.
406. And generating task completion feedback information.
The task completion feedback information is used for indicating that the first cargo arrives at the first end position.
When the unmanned forklift carries the first goods to the first end position, task completion feedback information can be generated.
407. And sending the task completion feedback information to the central control equipment so that the central control equipment generates a carrying completion report and a data deleting instruction according to the task completion feedback information.
And the unmanned forklift sends the task completion feedback information to the central control equipment, so that the central control equipment generates a carrying completion report and a data deleting instruction according to the task completion feedback information.
The conveyance completion report may include a conveyance route, conveyance time, and the like, and is not particularly limited. And the carrying operation condition of the unmanned forklift can be fed back through the carrying completion report, and the carrying operation condition of the unmanned forklift can be timely evaluated.
The data deletion instruction may be used to clear the cargo transferring request. Optionally, the central control device may respond to the data deletion instruction, and clear various requests for carrying the goods, such as the received goods transferring request or the emergency queuing request; alternatively, the central control device may send a data deletion instruction to the warehouse management system, so that the warehouse management system deletes various requests for handling the goods, such as a cargo transferring request or an urgent queuing request.
Therefore, the central control equipment and the warehouse management system can timely clear various executed requests for carrying goods, and the problem of low response speed caused by redundancy of carrying requests can be avoided.
In the embodiment of the application, a first scheduling instruction generated by the central control equipment when receiving a cargo transferring request of a user is received, wherein the cargo transferring request comprises a first starting point position and a first ending point position; responding to the first scheduling instruction, and controlling the omni-directional wheel of the unmanned forklift to perform omni-directional movement, so that effective omni-directional movement and automatic carrying operation can be realized under a narrow roadway scene; when a second scheduling instruction with higher priority than the first scheduling instruction is received, the response of the first scheduling instruction can be suspended, and when the second scheduling instruction is executed, the response of the first scheduling instruction is recovered, so that the response efficiency of the unmanned forklift to the emergency task is improved, and the requirement of the emergency transport task can be met in time; after the first scheduling instruction is executed, task completion feedback information can be generated and sent to the central control equipment, so that the central control equipment can generate a carrying completion report and a data deleting instruction according to the task completion feedback information, various executed requests for carrying goods can be cleared in time, and the problem of low response speed caused by redundancy of carrying requests can be avoided.
As shown in fig. 5, fig. 5 is a schematic structural diagram of an unmanned forklift disclosed in the embodiment of the present application, an omni-wheel is disposed at a chassis of the unmanned forklift 10, and the unmanned forklift is in communication connection with a central control device; the unmanned forklift 10 includes:
a receiving module 510, configured to receive a first scheduling instruction; the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first ending point position;
and the response module 520 is configured to respond to the first scheduling instruction, control the omni-wheel to perform omni-directional movement, forward to the first location to fork the first cargo, and convey the first cargo from the first location to the first destination.
In one embodiment, four omni wheels and driving devices respectively corresponding to the four omni wheels are arranged at the chassis of the unmanned forklift 10; the driving device drives the omnidirectional wheel to move omnidirectionally.
In one embodiment, the unmanned forklift 10 is also provided with a lidar sensor; the unmanned forklift 10 further comprises a navigation module;
the navigation module is used for acquiring point cloud data of a surrounding environment area of the unmanned forklift through the laser radar sensor; determining a navigation path of the unmanned forklift based on the point cloud data; according to the navigation path, a driving signal is generated and is sent to driving devices respectively corresponding to the four omni-directional wheels so as to drive the four omni-directional wheels to perform omni-directional movement.
In one embodiment, the unmanned forklift 10 further includes an obstacle avoidance module;
the obstacle avoidance module is used for generating an obstacle avoidance signal when detecting that the distance between the unmanned forklift and the obstacle is smaller than a distance threshold value, and sending the obstacle avoidance signal to driving devices respectively corresponding to the four omni-directional wheels so as to drive the unmanned forklift to move in a direction away from the obstacle.
In one embodiment, the response module 520 performing the forward to first origin location to fork the first cargo may include the steps of:
the method comprises the steps of going to a first starting point position, detecting offset between a fork of an unmanned forklift and a first cargo, and generating an adjusting signal based on the offset;
and sending the adjusting signals to driving devices respectively corresponding to the four omni-directional wheels so as to drive the four omni-directional wheels to displace and rotate according to the offset until the fork of the unmanned forklift is aligned with the first goods, and forking the first goods.
In one embodiment, the unmanned forklift 10 further includes an emergency module;
the emergency module is used for generating a second scheduling instruction according to the emergency queue inserting request under the condition that the emergency queue inserting request is received; the emergency queue inserting request comprises a second starting point position and a second end point position, and the priority of the second scheduling instruction is higher than that of the first scheduling instruction; suspending responding to the first scheduling instruction, controlling the omni-directional wheel to move omnidirectionally according to the second scheduling instruction, forking a second cargo to a second starting point position, and carrying the second cargo from the second starting point position to a second end point position; restoring the response to the first scheduling instruction.
In one embodiment, the unmanned forklift 10 further includes a feedback module;
the feedback module is used for generating task completion feedback information, and the task completion feedback information is used for indicating that the first goods reach the first end position;
the task completion feedback information is sent to the central control equipment, so that the central control equipment generates a carrying completion report and a data deleting instruction according to the task completion feedback information; the data delete instruction is used to clear the cargo transferring request.
In the embodiment of the application, a first scheduling instruction generated by the receiving central control equipment when receiving a cargo transferring request of a user is received, wherein the cargo transferring request comprises a first starting point position and a first end point position; responding to the first scheduling instruction, controlling the omni-wheel of the unmanned forklift to move omnidirectionally, forking first cargoes to the first starting point position, and carrying the first cargoes from the first starting point position to the first end point position. By implementing the embodiment of the application, the omni-directional wheel of the unmanned forklift is controlled to perform omni-directional movement in the process of carrying the first goods, so that the turning radius of the unmanned forklift is smaller, and therefore effective omni-directional movement and automatic carrying operation can be realized under a narrow roadway scene.
As shown in fig. 6, fig. 6 is a schematic structural diagram of another unmanned forklift disclosed in an embodiment of the present application, where the unmanned forklift may include:
a memory 610 storing executable program code;
a processor 620 coupled to the memory 610;
The Memory 610 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (ROM). Memory 610 may be used to store instructions, programs, code, sets of codes, or sets of instructions. The memory 610 may include a stored program area and a stored data area, wherein the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing the various method embodiments described above, and the like. The storage data area may also store data created by the electronic device in use, etc.
It will be appreciated that the electronic device may include more or fewer structural elements than those described in the above structural block diagrams, including, for example, a power module, physical key, wiFi (Wireless Fidelity ) module, speaker, bluetooth module, sensor, etc., and may not be limited herein.
The present embodiment discloses a computer-readable storage medium storing a computer program, wherein the computer program causes a computer to execute the method described in the above embodiments.
Furthermore, embodiments of the present application further disclose a computer program product that, when run on a computer, enables the computer to perform all or part of the steps of any of the cargo handling methods described in the above embodiments.
Those of ordinary skill in the art will appreciate that all or part of the steps of the various methods of the above embodiments may be implemented by a program that instructs associated hardware, the program may be stored in a computer readable storage medium including Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disk Memory, magnetic disk Memory, tape Memory, or any other medium that can be used for carrying or storing data that is readable by a computer.
The foregoing has described in detail a cargo handling method, an unmanned forklift and a storage medium disclosed in embodiments of the present application, and specific examples have been applied herein to illustrate the principles and embodiments of the present application, the above description of the embodiments being only for aiding in the understanding of the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. The cargo handling method is characterized by being applied to an unmanned forklift; an omnidirectional wheel is arranged at the chassis of the unmanned forklift; the unmanned forklift is in communication connection with the central control equipment; the method comprises the following steps:
receiving a first scheduling instruction; the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first ending point position;
and responding to the first scheduling instruction, controlling the omni-wheel to move omnidirectionally, forking first cargoes to the first starting point position, and carrying the first cargoes from the first starting point position to the first end point position.
2. The method according to claim 1, wherein four omni wheels and driving devices respectively corresponding to the four omni wheels are arranged at a chassis of the unmanned forklift; the driving device drives the omnidirectional wheel to move omnidirectionally.
3. The method of claim 2, wherein the unmanned forklift is further provided with a lidar sensor; the method further comprises the steps of:
acquiring point cloud data of a surrounding environment area of the unmanned forklift through the laser radar sensor;
determining a navigation path of the unmanned forklift based on the point cloud data;
and generating a driving signal according to the navigation path, and sending the driving signal to driving devices respectively corresponding to the four omni-wheels so as to drive the four omni-wheels to perform omni-directional movement.
4. The method according to claim 2, wherein the method further comprises:
when the distance between the unmanned forklift and the obstacle is detected to be smaller than a distance threshold, an obstacle avoidance signal is generated and sent to driving devices respectively corresponding to the four omni-directional wheels, so that the unmanned forklift is driven to move in a direction away from the obstacle.
5. The method of claim 2, wherein the routing to the first home location to fork the first cargo comprises:
the method comprises the steps of going to a first starting point position, detecting offset between a fork of the unmanned forklift and first goods, and generating an adjusting signal based on the offset;
and sending the adjusting signals to driving devices respectively corresponding to the four omni-directional wheels so as to drive the four omni-directional wheels to displace and rotate according to the offset until the fork of the unmanned forklift aligns with the first goods, and forking the first goods.
6. The method according to any one of claims 1-5, further comprising:
suspending responding to the first scheduling instruction when receiving a second scheduling instruction; the second scheduling instruction is generated when the central control equipment receives an emergency queue inserting request of a user, the emergency queue inserting request comprises a second starting point position and a second end point position, and the priority of the second scheduling instruction is higher than that of the first scheduling instruction;
responding to the second scheduling instruction, controlling the omnidirectional wheel to move omnidirectionally, and forking a second cargo to the second starting point position and carrying the second cargo from the second starting point position to the second ending point position;
restoring and responding to the first scheduling instruction.
7. The method of claim 1, wherein after transporting the first cargo from the first home location to the first end location, the method further comprises:
generating task completion feedback information, wherein the task completion feedback information is used for indicating that the first goods reach the first end position;
the task completion feedback information is sent to the central control equipment, so that the central control equipment generates a carrying completion report and a data deleting instruction according to the task completion feedback information; the data deletion instruction is used for clearing the cargo transferring request.
8. An unmanned forklift is characterized in that an omnidirectional wheel is arranged at a chassis of the unmanned forklift; the unmanned forklift is in communication connection with the central control equipment; the unmanned forklift comprises:
the receiving module is used for receiving the first scheduling instruction; the first scheduling instruction is generated when the central control equipment receives a cargo transferring request of a user, and the cargo transferring request comprises a first starting point position and a first ending point position;
and the response module is used for responding to the first scheduling instruction, controlling the omni-wheel to move omnidirectionally, forking first cargoes to the first starting point position, and carrying the first cargoes from the first starting point position to the first end point position.
9. An unmanned forklift, comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium storing a computer program, wherein the computer program, when executed by a processor, causes the processor to perform the method of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310144097.2A CN116101939A (en) | 2023-02-06 | 2023-02-06 | Cargo handling method, unmanned forklift and storage medium |
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| CN202310144097.2A CN116101939A (en) | 2023-02-06 | 2023-02-06 | Cargo handling method, unmanned forklift and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116358563A (en) * | 2023-06-01 | 2023-06-30 | 未来机器人（深圳）有限公司 | Motion planning method and device, unmanned forklift and storage medium |
| CN116374782A (en) * | 2023-06-05 | 2023-07-04 | 未来机器人（深圳）有限公司 | Fork rotation protection method, unmanned forklift and storage medium |
-
2023
- 2023-02-06 CN CN202310144097.2A patent/CN116101939A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116358563A (en) * | 2023-06-01 | 2023-06-30 | 未来机器人（深圳）有限公司 | Motion planning method and device, unmanned forklift and storage medium |
| CN116374782A (en) * | 2023-06-05 | 2023-07-04 | 未来机器人（深圳）有限公司 | Fork rotation protection method, unmanned forklift and storage medium |
| CN116374782B (en) * | 2023-06-05 | 2023-08-25 | 未来机器人（深圳）有限公司 | Fork rotation protection method, unmanned forklift and storage medium |
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