CN116674920A - Intelligent transportation method, device, equipment and storage medium - Google Patents
Intelligent transportation method, device, equipment and storage medium Download PDFInfo
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- CN116674920A CN116674920A CN202310456490.5A CN202310456490A CN116674920A CN 116674920 A CN116674920 A CN 116674920A CN 202310456490 A CN202310456490 A CN 202310456490A CN 116674920 A CN116674920 A CN 116674920A
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- 210000000707 wrist Anatomy 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 14
- 230000000087 stabilizing effect Effects 0.000 claims description 2
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- 238000012384 transportation and delivery Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0225—Orientation of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0266—Control or detection relating to the load carrier(s)
- B65G2203/0283—Position of the load carrier
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
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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]
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- Engineering & Computer Science (AREA)
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Abstract
The invention relates to an intelligent transportation method, device, equipment and storage medium, wherein the method comprises the following steps: responding to a first action instruction of a forklift for carrying a current cantilever assembly from a production area, controlling the forklift to travel to a finished product area according to a preset first travel route, wherein a carrying rack included in the finished product area is used for stacking a plurality of cantilever assemblies in a staggered manner, and the cantilever assemblies comprise a transfer template and a cantilever arranged and fixed on the transfer template; acquiring scanning information of a preset mark on a carrying rack, and adjusting configuration information of a forklift according to the scanning information and the current position; the forklift is controlled to fork the current cantilever assembly under the configuration information, the current cantilever assembly is stacked on the carrying rack according to the preset stacking rule, the preset stacking rule is that the current cantilever assembly is connected with the transfer template of the stacked cantilever assembly in a plugging mode, and the cantilever orientation is the same, so that automatic transportation and stacking of the contact net pre-accessories are realized, the safety and construction efficiency of accessory transportation are improved, and the waste of manpower and material resources is reduced.
Description
Technical Field
The present invention relates to the field of intelligent transportation technologies, and in particular, to an intelligent transportation method, apparatus, device, and storage medium.
Background
Along with the application of the overhead line system in rail transit, the quality and the working state of the overhead line system directly influence the operation safety of the rail transit, wherein the cantilever is an important supporting device of the overhead line system of the high-speed railway and is in a triangular structure, and the overhead line system comprises an insulator, a cantilever pipe, a cantilever support and other structures, but the specific sizes are different from each other, and the difference is larger.
The conventional cantilever transportation generally adopts a manual or semi-automatic transportation method to transport the assembled cantilever to a transport vehicle, but the method has the defects of multiple working procedures, large number of required site construction personnel, high operation difficulty, easy danger and easy waste of manpower and material resources.
Disclosure of Invention
In order to solve the technical problems, the embodiment of the disclosure provides an intelligent transportation method, an intelligent transportation device, intelligent transportation equipment and an intelligent storage medium, so that automatic transportation and stacking of contact net pre-accessories are realized, the safety of accessory transportation and the construction efficiency are improved, and the waste of manpower and material resources is reduced.
In a first aspect, an embodiment of the present disclosure provides an intelligent transportation method, including:
Responding to a first action instruction of a forklift for carrying a current cantilever assembly from a production area, and controlling the forklift to travel to a finished product area according to a preset first travel route, wherein the finished product area comprises a plurality of carrying racks which are used for stacking a plurality of cantilever assemblies in a staggered manner, and the cantilever assembly comprises a transfer template and a cantilever arranged on the transfer template;
determining the current position of the forklift in the finished product area;
acquiring scanning information of a preset mark in the finished product area, and adjusting configuration information of the forklift according to the scanning information and the current position;
and controlling the forklift to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, wherein the preset stacking rule is that the current cantilever assembly is connected with a transfer template of a previous cantilever assembly after stacking in a plugging manner, and the directions of the cantilever assemblies are the same.
Optionally, the cantilever assembly comprises a plurality of fork members for securing when the truck is handling the cantilever assembly.
Optionally, after the forklift is controlled to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, the method further includes:
Responding to a second action instruction of the forklift for completing stacking of the cantilever assembly, and controlling the forklift to travel to the production area according to a preset second travel route;
identifying a plurality of fork components of a next cantilever assembly in the production area, and controlling the tines of the forklift to fork an area on the next cantilever assembly, which area is formed by the plurality of fork components, so as to convey the next cantilever assembly from the production area.
Optionally, the determining the current position of the forklift in the finished product area includes:
and responding to the arrival instruction of the forklift, and determining the current position of the forklift in the finished product area through a laser navigation device configured by the forklift.
Optionally, the finished product area includes a plurality of carrying racks, and the adjusting the configuration information of the forklift according to the scanning information and the current position includes:
calculating the relative positions of the forklift and each carrying rack in the carrying racks according to the scanning information and the current position to obtain a plurality of relative positions;
determining a target carrying rack corresponding to a target relative position which is smaller than a preset threshold value in the plurality of relative positions;
and controlling the forklift to travel from the current position to the target carrying rack, and adjusting configuration information of the forklift relative to the target carrying rack.
Optionally, the configuration information includes vehicle body posture information and fork tooth direction information, and the adjusting the configuration information of the forklift relative to the target carrying rack includes:
identifying the placement position and the placement angle of the carrying rack, wherein the carrying rack is a Sichuan type frame for placing all the wrist arm assemblies;
and adjusting the vehicle body posture information and the fork tooth direction information of the forklift relative to the target carrying rack according to the placing position and the placing angle of the target carrying rack.
Optionally, the peripheral department of transporting the template is equipped with a plurality of vertical setting's plug connector, control fork truck is in under the configuration information according to predetermineeing the stacking rule will current cantilever assembly piece is stacked on the delivery rack, include:
identifying a plurality of vertically arranged connectors of a previous wrist assembly which is finished being stacked;
and under the configuration information, controlling the forklift to stack the carried current cantilever assembly on a plurality of vertically arranged connectors of the previous cantilever assembly, wherein the previous cantilever assembly and the current cantilever assembly are adjacent on the carrying rack.
Optionally, the upper end of the plug connector forms a first plug connector portion, the lower end of the plug connector forms a second plug connector portion, the first plug connector portion is suitable for being in plug fit with the second plug connector portion, and the outer diameter of the second plug connector portion is smaller than the inner diameter of the first plug connector portion.
Optionally, the controlling the forklift stacks the current cantilever assembly carried on a plurality of vertically arranged connectors of the previous cantilever assembly includes:
for each vertically arranged plug connector, the forklift is controlled to insert the second plug connector of the current cantilever assembly into the first plug connector of the previous cantilever assembly so as to finish staggered stacking and stacking of a plurality of cantilever assemblies on the carrying rack.
In a second aspect, embodiments of the present disclosure provide an intelligent transportation device, comprising:
the first control module is used for responding to a first action instruction of a forklift for carrying the current cantilever assembly from a production area and controlling the forklift to travel to a finished product area according to a preset first travel route, the finished product area comprises a plurality of carrying racks, the carrying racks are used for stacking a plurality of cantilever assemblies in a staggered manner, and the cantilever assembly comprises a transfer template and a cantilever arranged on the transfer template;
the determining module is used for determining the current position of the forklift in the finished product area;
the adjustment module is used for acquiring scanning information of a preset mark in the finished product area and adjusting configuration information of the forklift according to the scanning information and the current position;
The second control module is used for controlling the forklift to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, and the preset stacking rule is the same as the splicing connection of the transfer template of the previous cantilever assembly after stacking, and the cantilever orientation.
In a third aspect, an embodiment of the present disclosure provides an electronic device, including:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the intelligent transportation method as described above.
In a fourth aspect, embodiments of the present disclosure provide a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of an intelligent transportation method as described above.
The embodiment of the disclosure provides an intelligent transportation method, which comprises the following steps: responding to a first action instruction of a forklift for carrying a current cantilever assembly from a production area, and controlling the forklift to travel to a finished product area according to a preset first travel route, wherein the finished product area comprises a plurality of carrying racks which are used for stacking a plurality of cantilever assemblies in a staggered manner, and the cantilever assembly comprises a transfer template and a cantilever arranged on the transfer template; determining the current position of the forklift in the finished product area; acquiring scanning information of a preset mark in the finished product area, and adjusting configuration information of the forklift according to the scanning information and the current position; and controlling the forklift to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, wherein the preset stacking rule is that the current cantilever assembly is connected with a transfer template of a previous cantilever assembly after stacking in a plugging manner, and the directions of the cantilever assemblies are the same. The method provided by the embodiment of the disclosure realizes automatic transportation and stacking of the contact net pre-fittings and improves the transportation safety and construction efficiency of the contact net pre-fittings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
In order to more clearly illustrate the embodiments of the present disclosure or the solutions in the prior art, the drawings that are required for the description of the embodiments or the prior art will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic flow chart of an intelligent transportation method according to an embodiment of the disclosure;
fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present disclosure;
FIG. 3 is a schematic view of a wrist assembly according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of another intelligent transportation method according to an embodiment of the present disclosure;
fig. 5 is a schematic structural view of a turnover box according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an intelligent transportation device according to an embodiment of the disclosure;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure may be more clearly understood, a further description of aspects of the present disclosure will be provided below. It should be noted that, without conflict, the embodiments of the present disclosure and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced otherwise than as described herein; it will be apparent that the embodiments in the specification are only some, but not all, embodiments of the disclosure.
Aiming at the technical problems, the embodiment of the disclosure provides an intelligent transportation method, which is characterized in that after the production of cantilever pipes and rod porcelain in accessory parts is completed in a pre-accessory production area, and the integral assembly work of different cantilever pipes is completed in the pre-accessory production by combining a cantilever assembly table, the intelligent transportation and turnover box packing work of the cantilever assembly piece/contact net pre-accessory in the production area and a finished product area are completed by an intelligent forklift, a plurality of cantilever pipes are completed in a turnover box, the cantilever turnover box has the functions of stacking the complete cantilever pipes and transporting the cantilever pipes, and in addition, the turnover box also has certain universality, so that the follow-up bulk transportation of the cantilever pipes and the rod porcelain can be adapted in combination with the operation requirements. The details of one or more embodiments are set forth in the description below.
Fig. 1 is a flow chart of an intelligent transportation method according to an embodiment of the present disclosure, which specifically includes the following steps S110 to S140 shown in fig. 1:
it can be appreciated that the method provided by the embodiments of the present disclosure is applied to a controller, where the controller may be configured on a forklift to control the forklift to automatically perform operations such as transportation and stacking of a plurality of accessories.
S110, responding to a first action instruction of the forklift for carrying the current cantilever assembly from the production area, and controlling the forklift to travel to the finished product area according to a preset first travel route.
The finished product area comprises a plurality of carrying racks, wherein the carrying racks are used for stacking a plurality of cantilever assemblies in a staggered mode, and each cantilever assembly comprises a transfer template and a cantilever arranged on the transfer template.
It can be understood that after the forklift forks the cantilever assembly from the production area, a first action instruction is generated, the first action instruction is used for controlling the forklift to travel to the finished product area according to a preset first travel route, wherein the production area is an area for producing and assembling the cantilever assembly, the cantilever assembly which is forked by the forklift is recorded as a current cantilever assembly, namely a fitting to be transported and stacked, specifically, the cantilever assembly is a contact net pre-fitting, the contact net pre-fitting is an assembled cantilever, and the finished product area is a stacking box area of the cantilever assembly. It will be appreciated that two fixed travel routes are generated from the determined production area and the finished area, denoted as a first travel route and a second travel route, the first travel route being a route for the forklift from the production area to the finished area, and the second travel route being a route for the forklift to return from the finished area to the production area, the forklift traveling according to the first travel route and the second travel route during the handling and stacking of the plurality of wrist assemblies.
S120, determining the current position of the forklift in the finished product area.
It is to be understood that, on the basis of S110 above, after the forklift truck forks the current cantilever assembly according to the first travelling route to the finished product area, that is, after the forklift truck stops travelling, the current position of the forklift truck in the finished product area is determined, and the current position may also be understood as the relative position of the forklift truck and the finished product area, for example, the position of the forklift truck at a position 10 centimeters (cm) outside the finished product area, and the current position may also be understood as the coordinate position of the forklift truck in the finished product area, for example, the finished product area is regarded as a coordinate system, and the position of the forklift truck in the finished product area is represented by means of coordinates.
Optionally, in S120, determining the current position of the forklift in the finished product area is specifically implemented through the following steps:
and responding to the arrival instruction of the forklift, and determining the current position of the forklift in the finished product area through a laser navigation device configured by the forklift.
It can be understood that after the forklift reaches the finished product area, an arrival instruction is generated, a target point (end point) of the forklift reaching the first travel route can be determined according to the arrival instruction, and then the current position of the forklift in the finished product area is determined through a laser navigation device configured on the forklift. Wherein, laser navigation device fixes a position through laser navigation (Automated Guided Vehicle, AGV), the principle of AGV utilizes the accuracy and the nondispersity of laser to carry out the accurate positioning to robot place position to guide the robot to walk the operation, the AGV of fork truck configuration in this disclosure adopts the no reflecting plate laser navigation of instant location and map construction (Simultaneous Localization and Mapping, SLAM) navigation technique, for traditional magnetic stripe, magnetism nail, typewriter ribbon or guiding means such as two-dimensional code, laser navigation AGV has the location accuracy, the route of traveling is nimble changeable, characteristics such as the complex running environment can adapt to, the fork truck accomplishes the transportation of cantilever in the workshop through laser navigation device.
S130, acquiring scanning information of preset marks in the finished product area, and adjusting configuration information of the forklift according to the scanning information and the current position.
It can be appreciated that, based on S120, a plurality of marks are preset in the finished product area, and are marked as preset marks, and the preset marks can be two-dimensional codes. After the forklift reaches the finished product area, a scanning device arranged on the forklift scans a preset mark to obtain scanning information. And then, adjusting relevant configuration information of the forklift according to the scanning information and the current position.
Wherein the finish area comprises a plurality of carrying racks.
Optionally, in S130, the configuration information of the forklift is adjusted according to the scanning information and the current position, which is specifically implemented by the following steps:
calculating the relative positions of the forklift and each carrying rack in the carrying racks according to the scanning information and the current position to obtain a plurality of relative positions; determining a target carrying rack corresponding to a target relative position which is smaller than a preset threshold value in the plurality of relative positions; and controlling the forklift to travel from the current position to the target carrying rack, and adjusting configuration information of the forklift relative to the target carrying rack.
It will be appreciated that the finish area includes a plurality of carrying carriages, each carrying carriage being the target point of the first travel path, i.e. the truck may travel to a different carrying carriage where stacking of the wrist assembly is completed. In the following embodiments, the present position is illustrated as a relative position of the forklift with respect to the finished product area, and each carrying rack may be preset with a preset identifier, so that the relative position of the forklift with respect to each carrying rack may be calculated according to the scanning information and the present position, to obtain a plurality of relative positions. And then, determining the relative position of the target which is smaller than a preset threshold value in the relative positions, and taking the carrying rack corresponding to the relative position of the target as a target carrying rack. It will be appreciated that when the truck travels to the finished product area according to the first travel route, deviations may occur, and therefore the deviations are finely adjusted by scanning information, so that the truck travels to an accurate carrying rack, and accurate stacking of the cantilever assembly is facilitated in the target carrying rack by the subsequent truck.
Wherein the configuration information includes vehicle body posture information and fork direction information.
Optionally, the adjusting the configuration information of the forklift relative to the target carrying rack is specifically implemented through the following steps:
Identifying the placement position and the placement angle of the carrying rack, wherein the target carrying rack is a Sichuan type frame for placing all the wrist arm assemblies; and adjusting the vehicle body posture information and the fork tooth direction information of the forklift relative to the target carrying rack according to the placing position and the placing angle of the target carrying rack.
It can be understood that the configuration information of the forklift includes the posture information of the forklift body and the direction information of the fork teeth in the forklift, at this time, the fork teeth are stopped on the precise carrying rack and a cantilever assembly to be stacked is forked on the fork teeth, the image of the target carrying rack in the finished product area is shot through the image pick-up device configured on the forklift, and the placement position and the placement angle of the target carrying rack relative to the forklift are identified, wherein the target carrying rack refers to a Sichuan-type frame for placing all the cantilever assemblies and is also a part of the turnover box. Subsequently, according to the placement position and the placement angle of the target carrying rack, the forklift body posture information and the fork tooth direction information in the target carrying rack are adjusted, so that accurate stacking is completed, and for example, the identification accuracy can be that the target carrying rack is shifted by +/-30 cm/the target carrying rack is shifted by +/-30 degrees.
For example, referring to fig. 2, fig. 2 is a schematic diagram of an application scenario provided in an embodiment of the present disclosure, fig. 2 includes a production area 210, a finished product area 220, and a forklift traveling area 230, the forklift forks the cantilever assembly 211 from the production area 210 to travel to the finished product area 220 according to a first travel route 231, and after the finished product area 220 finishes stacking the cantilever assembly 211, the forklift travels from the finished product area 220 to the production area 210 according to a second travel route 232.
The cantilever assembly comprises a plurality of forking components, wherein the forking components are used for stabilizing when the forklift carries the cantilever assembly.
And S140, controlling the forklift to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information.
The preset stacking rule is that the transfer templates of the previous wrist assembly after stacking are connected in a plugging mode, and the wrist orientations are the same.
It can be appreciated that, on the basis of S130, the forklift is controlled to stack the current cantilever assembly parts, which are forked by the forklift, based on the preset stacking rule under the configuration information until the staggered stacking of the plurality of cantilever assembly parts on the carrying rack is completed, the carrying rack and the plurality of cantilever assembly parts form a cantilever turnover box, and then the plurality of cantilever assembly parts can be transferred by carrying the turnover box once.
Optionally, after the forklift is controlled to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, the method further includes:
responding to a second action instruction of the forklift for completing stacking of the cantilever assembly, and controlling the forklift to travel to the production area according to a preset second travel route; identifying a plurality of fork components of a next cantilever assembly in the production area, and controlling the tines of the forklift to fork an area on the next cantilever assembly, which area is formed by the plurality of fork components, so as to convey the next cantilever assembly from the production area.
It is to be appreciated that the cantilever assembly includes a plurality of fork members, and the fork members are used for being stabilized when the fork truck carries the cantilever assembly, that is, the cantilever assembly for placing the fork is moved left and right, the fork members can be welded on the cantilever assembly in an L-shaped structure, the specific structure of the fork members is not limited herein, and the fork members can be determined according to the user's needs. After the forklift finishes stacking the current cantilever assembly, generating a second action instruction, wherein the second action instruction is used for controlling the forklift to return to a production area according to a preset second travelling route so as to fork and take down the next cantilever assembly. Specifically, after the forklift travels to the production area, an arrival command is also generated, that is, it is determined that the forklift has arrived at the production area, and in response to the arrival command, an image of the next cantilever assembly is captured by the image capturing device thereon, and a plurality of fork members of the next cantilever assembly are identified. And then, controlling the fork tines of the forklift to take down an area consisting of a plurality of fork taking assemblies on the one cantilever assembly according to the identification result so as to carry the next cantilever assembly from the production area to the finished product area and finish stacking of the next cantilever assembly, for example, two fork tines can be respectively placed next to one fork taking assembly to take, and the situation that accessories slide or fall off when the forklift fork takes down the one cantilever assembly in the transferring process is prevented.
It can be understood that the forklift body can be configured with obstacle avoidance lasers, distance sensors, 3D cameras (image pick-up devices), anti-collision bars and the like, so that the comprehensive protection of the forklift is realized. And secondly, the forklift can also support independent charging, and a specific power management scheme can be customized according to the actual working condition of the site to realize independent charging. In addition, the forklift can automatically generate a path to the target point, and monitor the deviation distance of the forklift from the path at any time in the driving process, so that global path planning is realized. Finally, the local path planning can be performed in real time during the running process of the forklift, the running speed of the forklift is planned and controlled, the speed smoothness during the running process of the forklift is ensured, and the transportation safety is ensured.
The embodiment of the disclosure provides an intelligent transportation method, which is applied to a controller configured on a forklift, and responds to a first action instruction of the forklift for carrying a current cantilever assembly from a production area, namely, after the forklift forks a cantilever assembly from the production area, the first action instruction is generated, and is used for controlling the forklift to travel to a finished product area according to a preset first travel route, wherein the first travel route is a route from the production area to the finished product area; determining the current position of the forklift in a finished product area; acquiring scanning information of a preset mark in a finished product area, and adjusting the posture and the fork tooth direction of a forklift body according to the scanning information and the current position, so that accurate stacking of the cantilever assembly is convenient to follow-up; and then, controlling the forklift to stack the current cantilever assembly carried by the forklift on the carrying rack according to a preset stacking rule under the configuration information, and circulating the steps until the staggered stacking of the plurality of cantilever assemblies on the carrying rack is completed, so as to form the cantilever turnover box. The method provided by the embodiment of the disclosure realizes automatic transportation and stacking of the contact net pre-fittings and improves the transportation safety and construction efficiency of the contact net pre-fittings.
On the basis of the foregoing embodiments, fig. 3 is a schematic flow chart of an intelligent transportation method according to an embodiment of the present disclosure, optionally, the controlling the forklift to stack the current wrist assembly on the carrying rack according to a preset stacking rule under the configuration information specifically includes the following steps S310 to S320 shown in fig. 3:
the wrist assembly comprises a transfer template, a plurality of vertically arranged connectors are arranged at the periphery of the transfer template, a first connector is formed at the upper end of each connector, a second connector is formed at the lower end of each connector, the first connector is suitable for being matched with the second connector in a plugging mode, and the outer diameter of the second connector is smaller than the inner diameter of the first connector.
For example, referring to fig. 4, fig. 4 is a schematic structural diagram of a cantilever assembly provided by an embodiment of the disclosure, fig. 4 is a schematic structural diagram of a transfer template, the transfer template includes a mounting base 1, a plurality of vertically arranged connectors 7 are disposed at a periphery of the mounting base 1, an upper end of each connector 7 forms a first plug portion, a lower end of each connector 7 forms a second plug portion, and the first plug portion is adapted to be plug-in matched with the second plug portion. The outer diameter of the second plug-in connection part is smaller than the inner diameter of the first plug-in connection part. Through the setting of first grafting portion and second grafting portion, can stack a plurality of wrist arm transfer templates in this embodiment, the second grafting portion can be inserted and is established in the first grafting portion of the installation base 1 that is located the below to form the connection between two installation bases 1, and then connect and fold and establish a plurality of installation bases 1, realize the range upon range of setting of a plurality of wrist arm assemblies, still be provided with a plurality of fork on the installation base 1 and get the subassembly.
The control forklift is used for completing staggered stacking and stacking of the plurality of cantilever assemblies on the carrying rack, and the method is realized through the following steps:
s310, identifying a plurality of vertically arranged connectors of the previous wrist assembly after stacking.
It can be understood that after the forklift moves to the target carrying rack, if the cantilever assembly is already stacked on the target carrying rack, in this case, the image pickup device of the forklift picks up the connectors of the stacked previous cantilever assembly, and identifies the positions of the four connectors of the previous cantilever assembly. Alternatively, if the wrist assembly is not already stacked on the target carrier rack, the target carrier rack position can be directly identified.
And S320, under the configuration information, controlling the forklift to stack the carried current cantilever assembly on a plurality of vertically arranged connectors of the previous cantilever assembly.
Wherein the previous and current wrist assemblies are adjacent on the carrying skid.
It can be understood that, on the basis of S310, after the forklift travels to the target carrier rack and the configuration information has been adjusted, the forklift is controlled to stack the current cantilever assembly, which is forked, on the connectors of the previous cantilever assembly, and specifically, the current cantilever assembly corresponds to the four connectors one by one. Or if the wrist assembly is not already stacked on the target carrying rack, the current to-be-transported assembly can be stacked on the target carrying rack directly according to the identified position of the target carrying rack.
Optionally, in S320 above, the forklift is controlled to stack the current cantilever assembly carried on a plurality of vertically arranged connectors of the previous cantilever assembly, and the method specifically includes the following steps:
for each vertically arranged plug connector, the forklift is controlled to insert the second plug connector of the current cantilever assembly into the first plug connector of the previous cantilever assembly so as to finish staggered stacking and stacking of a plurality of cantilever assemblies on the carrying rack.
It can be understood that, for each connector, when the forklift is controlled to be stacked, the second connector of the front cantilever assembly is inserted into the first connector of the previous cantilever assembly, so that stacking of the cantilever assembly and the previous transportation accessory is completed.
Referring to fig. 5, an exemplary illustration of a turnover box provided in an embodiment of the present disclosure, where the turnover box is composed of a plurality of cantilever assemblies that complete staggered stacking, as shown in fig. 5, the turnover box includes 10 cantilever assemblies (contact net pre-fittings), the turnover box includes a channel frame structure 510 and a plurality of cantilever assemblies, the plurality of cantilever assemblies are divided into a first group of cantilever assemblies 520 and a second group of cantilever assemblies 530, the cantilever assemblies include a mounting base (transfer template) 540, a plug connector 550, a rod porcelain 560, and a cantilever 570, two groups of cantilever assemblies in the turnover box shown in fig. 5 correspond to two carrying racks respectively, namely, a carrying rack 1 and a carrying rack 2, the forklift completes the stacking of the first group of cantilever assemblies 520 on the carrying rack 1, and the forklift completes the stacking of the second group of cantilever assemblies 530 on the carrying rack 2, and each group of cantilever assemblies includes 5 cantilever assemblies, and the stacking manner is: the forklift stacks one of the arm assemblies 521 on the carrier gantry 1 as one of the arm assemblies 520 of the first set, then stacks one of the arm assemblies 531 staggered with the arm assemblies 521 on the carrier gantry 2 as one of the arm assemblies 530 of the second set, and so on until the 10 arm assemblies are divided into two sets, and the staggered stack of 10 arm assemblies is completed.
The embodiment of the disclosure provides an intelligent transportation method, after the posture and the fork tooth direction of a forklift are adjusted, the staggered stacking of a current wrist-arm assembly is automatically completed by identifying the position of a target carrying rack or identifying the plug-in piece of a former to-be-tested accessory stacked on the target carrying rack, so that the loading safety is improved. Secondly, according to the characteristic of the cantilever assembly, the loading of a plurality of cantilever assemblies in the cantilever turnover box is formed, so that the subsequent direct transportation of the cantilever turnover box is facilitated, and the transportation efficiency is improved.
Fig. 6 is a schematic structural diagram of an intelligent transportation device according to an embodiment of the disclosure. The intelligent transportation apparatus provided in the embodiments of the present disclosure may execute the processing flow provided in the above-mentioned embodiment of the intelligent transportation method, as shown in fig. 6, where the intelligent transportation apparatus 600 includes a first control module 610, a determining module 620, an adjusting module 630, and a second control module 640, where:
a first control module 610, configured to control, in response to a first motion instruction of a forklift to carry a current cantilever assembly from a production area, the forklift to travel to a finished product area according to a preset first travel route, where the finished product area includes a plurality of carrying racks for stacking a plurality of cantilever assemblies in a staggered manner, where the cantilever assembly includes a transfer template and a cantilever mounted on the transfer template;
A determining module 620, configured to determine a current position of the forklift in the finished product area;
the adjustment module 630 is configured to obtain scan information of a preset identifier in the finished product area, and adjust configuration information of the forklift according to the scan information and the current position;
the second control module 640 is configured to control the forklift to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, where the preset stacking rule is the same as the splicing connection of the transfer template of the previous cantilever assembly after stacking, and the cantilever orientation.
Optionally, the boom assembly in apparatus 600 includes a plurality of fork assemblies for stability when the truck is handling the boom assembly.
Optionally, the apparatus 600 is further configured to:
responding to a second action instruction of the forklift for completing stacking of the cantilever assembly, and controlling the forklift to travel to the production area according to a preset second travel route;
identifying a plurality of fork components of a next cantilever assembly in the production area, and controlling the tines of the forklift to fork an area on the next cantilever assembly, which area is formed by the plurality of fork components, so as to convey the next cantilever assembly from the production area.
Optionally, the determining module 620 is configured to:
and responding to the arrival instruction of the forklift, and determining the current position of the forklift in the finished product area through a laser navigation device configured by the forklift.
Optionally, the finishing area in the apparatus 600 includes a plurality of carrying racks.
Optionally, the adjusting module 630 is configured to:
calculating the relative positions of the forklift and each carrying rack in the carrying racks according to the scanning information and the current position to obtain a plurality of relative positions;
determining a target carrying rack corresponding to a target relative position which is smaller than a preset threshold value in the plurality of relative positions;
and controlling the forklift to travel from the current position to the target carrying rack, and adjusting configuration information of the forklift relative to the target carrying rack.
Optionally, the configuration information in the apparatus 600 includes body posture information and prong direction information.
Optionally, the adjusting module 630 is configured to:
identifying the placement position and the placement angle of the carrying rack, wherein the target carrying rack is a Sichuan type frame for placing all the wrist arm assemblies;
and adjusting the vehicle body posture information and the fork tooth direction information of the forklift relative to the target carrying rack according to the placing position and the placing angle of the target carrying rack.
Optionally, the wrist assembly in the device 600 includes a transfer template, where a plurality of vertically disposed connectors are disposed at the periphery of the transfer template.
Optionally, the second control module 640 is configured to:
identifying a plurality of vertically arranged connectors of a previous wrist assembly which is finished being stacked;
and under the configuration information, controlling the forklift to stack the carried current cantilever assembly on a plurality of vertically arranged connectors of the previous cantilever assembly, wherein the previous cantilever assembly and the current cantilever assembly are adjacent on the carrying rack.
Optionally, in the device 600, a first plugging portion is formed at an upper end of the plug connector, a second plugging portion is formed at a lower end of the plug connector, and the first plugging portion is adapted to be plugged and matched with the second plugging portion, and an outer diameter of the second plugging portion is smaller than an inner diameter of the first plugging portion.
Optionally, the second control module 640 is configured to:
for each vertically arranged plug connector, the forklift is controlled to insert the second plug connector of the current cantilever assembly into the first plug connector of the previous cantilever assembly so as to finish staggered stacking and stacking of a plurality of cantilever assemblies on the carrying rack.
The intelligent transportation device of the embodiment shown in fig. 6 may be used to implement the technical solution of the above method embodiment, and its implementation principle and technical effects are similar, and will not be described herein again.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the disclosure. Referring now in particular to fig. 7, a schematic diagram of an electronic device 700 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device 700 in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), wearable electronic devices, and the like, and fixed terminals such as digital TVs, desktop computers, smart home devices, and the like. The electronic device shown in fig. 7 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 7, the electronic device 700 may include a processing means (e.g., a central processor, a graphics processor, etc.) 701 that may perform various suitable actions and processes to implement the intelligent transportation method of the embodiments as described in the present disclosure according to a program stored in a Read Only Memory (ROM) 702 or a program loaded from a storage means 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the electronic device 700 are also stored. The processing device 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
In general, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 700 to communicate wirelessly or by wire with other devices to exchange data. While fig. 7 shows an electronic device 700 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart, thereby implementing the intelligent transportation method as described above. In such an embodiment, the computer program may be downloaded and installed from a network via communication device 709, or installed from storage 708, or installed from ROM 702. The above-described functions defined in the methods of the embodiments of the present disclosure are performed when the computer program is executed by the processing device 701.
It should be noted that the computer readable medium described in the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
Alternatively, the electronic device may perform other steps described in the above embodiments when the above one or more programs are executed by the electronic device.
Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or intelligent transportation method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or intelligent transportation method. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of additional identical elements in a process, method, article, or intelligent transportation method comprising the element.
The foregoing is merely a specific embodiment of the disclosure to enable one skilled in the art to understand or practice the disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the disclosure. Thus, the present disclosure is not intended to be limited to the embodiments shown and described herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. An intelligent transportation method, comprising:
responding to a first action instruction of a forklift for carrying a current cantilever assembly from a production area, and controlling the forklift to travel to a finished product area according to a preset first travel route, wherein the finished product area comprises a plurality of carrying racks which are used for stacking a plurality of cantilever assemblies in a staggered manner, and the cantilever assembly comprises a transfer template and a cantilever arranged on the transfer template;
determining the current position of the forklift in the finished product area;
acquiring scanning information of a preset mark in the finished product area, and adjusting configuration information of the forklift according to the scanning information and the current position;
and controlling the forklift to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, wherein the preset stacking rule is that the current cantilever assembly is connected with a transfer template of a previous cantilever assembly after stacking in a plugging manner, and the directions of the cantilever assemblies are the same.
2. The method of claim 1, wherein the wrist assembly further comprises a plurality of fork assemblies for stabilizing the forklift when handling the wrist assembly, the controlling the forklift to stack the current wrist assembly on the carrier rack according to a preset stacking rule under the configuration information, the method further comprising:
Responding to a second action instruction of the forklift for completing stacking of the cantilever assembly, and controlling the forklift to travel to the production area according to a preset second travel route;
identifying a plurality of fork components of a next cantilever assembly in the production area, and controlling the tines of the forklift to fork an area on the next cantilever assembly, which area is formed by the plurality of fork components, so as to convey the next cantilever assembly from the production area.
3. The method of claim 1, wherein the determining the current location of the forklift in the finished product area comprises:
and responding to the arrival instruction of the forklift, and determining the current position of the forklift in the finished product area through a laser navigation device configured by the forklift.
4. A method according to claim 3, wherein said adjusting the configuration information of the forklift according to the scanning information and the current position comprises:
calculating the relative positions of the forklift and each carrying rack in the carrying racks according to the scanning information and the current position to obtain a plurality of relative positions;
determining a target carrying rack corresponding to a target relative position which is smaller than a preset threshold value in the plurality of relative positions;
And controlling the forklift to travel from the current position to the target carrying rack, and adjusting configuration information of the forklift relative to the target carrying rack.
5. The method of claim 4, wherein the configuration information includes body attitude information and tine orientation information, the adjusting the configuration information of the forklift relative to the target carrier rack comprising:
identifying the placement position and the placement angle of the target carrying rack, wherein the carrying rack is a Sichuan-type frame;
and adjusting the vehicle body posture information and the fork tooth direction information of the forklift relative to the target carrying rack according to the placing position and the placing angle of the target carrying rack.
6. The method of claim 1, wherein a plurality of vertically disposed connectors are provided at a periphery of the transfer template, the controlling the forklift to stack the current wrist assembly on the carrying rack according to a preset stacking rule under the configuration information comprises:
identifying a plurality of vertically arranged connectors of a previous wrist assembly which is finished being stacked;
and under the configuration information, controlling the forklift to stack the carried current cantilever assembly on a plurality of vertically arranged connectors of the previous cantilever assembly, wherein the previous cantilever assembly and the current cantilever assembly are adjacent on the carrying rack.
7. The method of claim 6, wherein an upper end of the plug forms a first plug portion, a lower end of the plug forms a second plug portion, the first plug portion is adapted to be plug-fitted with the second plug portion, an outer diameter of the second plug portion is smaller than an inner diameter of the first plug portion,
the control the fork truck stacks the current cantilever assembly of transport on a plurality of vertically disposed connectors of preceding cantilever assembly, includes:
for each vertically arranged plug connector, the forklift is controlled to insert the second plug connector of the current cantilever assembly into the first plug connector of the previous cantilever assembly so as to finish staggered stacking and stacking of a plurality of cantilever assemblies on the carrying rack.
8. An intelligent transportation device, comprising:
the first control module is used for responding to a first action instruction of a forklift for carrying the current cantilever assembly from a production area and controlling the forklift to travel to a finished product area according to a preset first travel route, the finished product area comprises a plurality of carrying racks, the carrying racks are used for stacking a plurality of cantilever assemblies in a staggered manner, and the cantilever assembly comprises a transfer template and a cantilever arranged on the transfer template;
The determining module is used for determining the current position of the forklift in the finished product area;
the adjustment module is used for acquiring scanning information of a preset mark in the finished product area and adjusting configuration information of the forklift according to the scanning information and the current position;
the second control module is used for controlling the forklift to stack the current cantilever assembly on the carrying rack according to a preset stacking rule under the configuration information, and the preset stacking rule is the same as the splicing connection of the transfer template of the previous cantilever assembly after stacking, and the cantilever orientation.
9. An electronic device, comprising:
a memory;
a processor; and
a computer program;
wherein the computer program is stored in the memory and configured to be executed by the processor to implement the intelligent transportation method of any one of claims 1 to 7.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the intelligent transportation method according to any one of claims 1 to 7.
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