CN116931532A - Method, system, computer device and storage medium for automatic loading and unloading of transport vehicle - Google Patents
Method, system, computer device and storage medium for automatic loading and unloading of transport vehicle Download PDFInfo
- Publication number
- CN116931532A CN116931532A CN202311191575.1A CN202311191575A CN116931532A CN 116931532 A CN116931532 A CN 116931532A CN 202311191575 A CN202311191575 A CN 202311191575A CN 116931532 A CN116931532 A CN 116931532A
- Authority
- CN
- China
- Prior art keywords
- transport vehicle
- agv
- loading
- unloading
- path
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 238000001514 detection method Methods 0.000 claims abstract description 69
- 239000000463 material Substances 0.000 claims abstract description 23
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 20
- 238000003708 edge detection Methods 0.000 claims abstract description 11
- 238000010801 machine learning Methods 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims description 17
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims 1
- 238000012384 transportation and delivery Methods 0.000 abstract description 10
- 238000007726 management method Methods 0.000 description 29
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 238000005259 measurement Methods 0.000 description 9
- 238000012790 confirmation Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 7
- 230000003993 interaction Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000013523 data management Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000013439 planning Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31002—Computer controlled agv conveys workpieces between buffer and cell
-
- 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
- Y02P90/60—Electric or hybrid propulsion means for production processes
Abstract
The invention discloses a method, a system, computer equipment and a storage device for automatically loading and unloading a transport vehicle, wherein the method comprises the following steps: acquiring an order task from a warehouse control system, and guiding a transport vehicle to go to a berth area for berthing according to the order task; the order task comprises a loading task and a unloading task; detecting whether the transport vehicle is successfully parked or not through a detection sensor configured in the berth area, and carrying out positioning detection on the transport vehicle and tray materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm; acquiring associated data of an AGV, and generating a dynamic navigation path by combining the associated data and a positioning detection result; the associated data comprises position information and state information of the AGV; and sending the dynamic navigation path to an AGV upper system, and enabling the AGV upper system to guide the AGV trolley to go to the transport vehicle for loading or unloading according to the dynamic navigation path. The invention can improve the automation level of logistics delivery links and reduce the labor cost.
Description
Technical Field
The invention relates to the technical field of logistics management, in particular to a method, a system, computer equipment and a storage medium for automatically loading and unloading a transport vehicle.
Background
The intelligent storage system comprises links such as delivery and receiving, wherein the delivery and receiving links mainly carry out logistics transportation operations such as loading, receiving and unloading on the transport vehicle, and the intelligent storage system mainly comprises a scene of loading and unloading cargoes from the tail of the transport vehicle and a scene of loading and unloading cargoes from two sides of the transport vehicle. The starting point of logistics transportation is a transport vehicle platform and a ground (or conveyor) platform, and the transport vehicle is a fork type carrying robot (AGV). The fixed path of the conventional AGV is usually generated by a system according to a navigation map, for example, a transport path is planned for the AGV trolley by dijkstra algorithm, but when loading and unloading are carried out, as the navigation map cannot be finely moved to each point in the interior of the transport trolley, the conventional AGV path planning method cannot adapt to the path of the AGV loading and unloading trolley in the delivery of the intelligent storage system, so that the time cost in the loading and unloading process is increased and the overall loading and unloading efficiency is reduced.
Disclosure of Invention
The embodiment of the invention provides a method, a system, computer equipment and a storage medium for automatically loading and unloading a transport vehicle, which aim to improve the automation level of logistics transportation links and reduce the cost.
In a first aspect, an embodiment of the present invention provides a method for automatically loading and unloading a transport vehicle, including:
acquiring an order task from a warehouse control system, and guiding a transport vehicle to go to a berth area for berthing according to the order task; the order task comprises a loading task and a unloading task;
detecting whether the transport vehicle is successfully parked or not through a detection sensor configured in the berth area, and carrying out positioning detection on the transport vehicle and tray materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm;
acquiring associated data of an AGV, and generating a dynamic navigation path by combining the associated data and a positioning detection result; the associated data comprises position information and state information of the AGV;
and sending the dynamic navigation path to an AGV upper system, and enabling the AGV upper system to guide the AGV trolley to go to the transport vehicle for loading or unloading according to the dynamic navigation path.
In a second aspect, an embodiment of the present invention provides a truck system for a transport vehicle, comprising:
The task acquisition unit is used for acquiring an order task from the warehouse control system and guiding the transportation vehicle to go to a berth area for berthing according to the order task; the order task comprises a loading task and a unloading task;
the vehicle detection unit is used for detecting whether the transport vehicle is successfully parked through a detection sensor configured in the berth area, and carrying out positioning detection on the transport vehicle and tray materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm;
the path generation unit is used for acquiring the association data of the AGV trolley and generating a dynamic navigation path by combining the association data and the positioning detection result; the associated data comprises position information and state information of the AGV;
and the loading and unloading vehicle unit is used for sending the dynamic navigation path to the AGV upper system and leading the AGV upper system to guide the AGV trolley to go to the transport vehicle for loading or unloading according to the dynamic navigation path.
In a third aspect, an embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method for loading and unloading a transport vehicle according to the first aspect when the computer program is executed.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the method for truck loading and unloading of a transport vehicle according to the first aspect.
The embodiment of the invention provides a method, a system, computer equipment and a storage medium for automatically loading and unloading a transport vehicle. The embodiment of the invention has the functions of transport vehicle berth management, AGV data acquisition, graphic monitoring, modularized business management and the like, and can realize unmanned automatic operation of logistics transport vehicle delivery and receiving, thereby improving the automation level of logistics delivery links and reducing manpower.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for managing a truck of a transport vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a truck management system for a transport vehicle according to an embodiment of the present invention;
FIG. 3 is a system architecture diagram of a truck management system for a transport vehicle according to an embodiment of the present invention;
FIG. 4 is a diagram of another system architecture of a truck management system for a transport vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a loading process in a method for managing a truck of a transport vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a handling flow in a method for handling a truck for a transport vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a transport vehicle entering a berth area normally in a method for managing a truck of a transport vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a truck deviated from a berth area in a truck management method according to an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating the path generation in a method for truck management for a transport vehicle according to an embodiment of the present invention;
FIG. 10 is a schematic diagram of a truck route in a method for truck management for a transport vehicle according to an embodiment of the present invention;
Fig. 11 is a schematic diagram of another truck route in a method for managing a truck for a transport vehicle according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be understood that the terms "comprises" and "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for automatically loading and unloading a transport vehicle according to an embodiment of the present invention, which specifically includes: steps S101 to S104.
S101, acquiring an order task from a warehouse control system, and guiding a transport vehicle to go to a berth area for berthing according to the order task; the order task comprises a loading task and a unloading task;
s102, detecting whether the transport vehicle is successfully parked or not through a detection sensor configured in a berth area, and carrying out positioning detection on the transport vehicle and tray materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm;
s103, acquiring association data of the AGV trolley, and generating a dynamic navigation path by combining the association data and a positioning detection result; the associated data comprises position information and state information of the AGV;
and S104, sending the dynamic navigation path to an AGV upper system, and enabling the AGV upper system to guide the AGV trolley to go to the transport vehicle for loading or unloading according to the dynamic navigation path.
According to the embodiment, the detection modes such as laser radar and machine vision are utilized, software algorithms such as edge detection and machine learning are combined, the transport vehicle and tray materials are positioned, and the fork AGV trolley is guided to carry out automatic loading and unloading vehicle operation from the two sides or the tail of the transport vehicle. The embodiment of the invention has the functions of transport vehicle berth management, AGV data acquisition, graphic monitoring, modularized business management and the like, and can realize unmanned automatic operation of logistics transport vehicle delivery and receiving, thereby improving the automation level of logistics delivery links and reducing manpower.
In a specific embodiment, as shown in fig. 3, the truck system (ats) is mainly divided into three parts: the system comprises a transport vehicle berth management system, an AGV upper system (non-AGV system) and a control and management system. Wherein, transport vechicle berth management system refers to: marking a plurality of ground surfaces for areas where the transport vehicles are berthed, wherein each berth is provided with a sensor such as a laser radar, a high-definition camera (such as a sky-eye camera in fig. 3) and the like, so that a sky-eye system for identifying the transport vehicles and the vehicle-mounted materials is formed, the sky-eye system is used for detecting the shape data of the transport vehicles, and the transport vehicles and the tray materials are positioned by combining software algorithms such as edge detection, machine learning and the like; the AGV upper system refers to: acquiring AGV trolley associated data, and guiding the AGV to carry cargoes onto the transport vehicle (delivery) or unload cargoes on the transport vehicle to a fixed platform (receiving) according to the positioning of the transport vehicle and the tray materials through a dynamic navigation path and environment established in real time; the management and control system refers to: the system is responsible for coordinating an AGV upper system and a berth management system. The method receives data transmitted by each module and sends a command to each module according to the service flow so as to ensure safe and efficient loading and unloading operation; and meanwhile, the information is managed, and contents such as real-time graphics, AGV states, transport vehicle states, alarm information, KPI and the like are displayed on a monitoring page in a graphical interface mode.
The management system specifically further comprises a data management system, a communication interface and service flow management. The data management system is responsible for processing information received and transmitted by the communication interface, converting the information into standard content which is convenient for inquiring and calling by system business and storing the standard content, such as WCS and AGV systems (acquisition: order information: o-msg; event information: E-msg, trolley parameters), storing internal process data, wherein a database is MySQL, and an expansion function is data report and data analysis. The communication interface is responsible for external system access, such as WCS, AGV host system, AGV on-vehicle controller (CVC) and 3D camera etc., wherein, AGV on-vehicle controller (CVC) and 3D camera all load on the AGV dolly. It should be noted that, the WCS originally communicates directly with the AGV upper system, and after the ATLS is added, the communication interface of the ALTS needs to preferentially ensure that the communication mode of the original service between the WCS and the AGV upper system does not change, and meanwhile, under the condition of system debugging or failure, the communication reliability and communication delay between the WCS and the AGV upper system are preferentially ensured. The service flow management is responsible for ATL related service structure flow, and customer display is not needed, but the division relation among different service flows is noted when programming, and the service function only manages grouping service by authority in the trolley information management.
The Layout management is responsible for ATL related path and navigation data processing, such as dynamic path, transition path, B-Spline calculation, navigation wall fitting, path offset compensation algorithm, etc.
The transport vehicle berth management is responsible for managing the external path ID, transport vehicle reference X, Y, angle, depth data and the associated ID of real-time data and berth detection associated with the truck, and managing the transport vehicle berthing man-machine interaction system.
AGV dolly management is responsible for managing AGV dolly IP address, dolly classification (branch service flow), dolly state information, dolly warning, dolly log etc..
The auxiliary function module management is responsible for ATL related expansion function module management, such as AGV electronic scale, RFID scanning, bar code scanning, vehicle-mounted camera, library video inventory and the like.
It should be noted that, be different from traditional AGV's fixed route, this embodiment gathers the image data of transport vechicle and goods through high definition digtal camera, calculate transport vechicle location data X, Y, angle, depth (i.e. the plane coordinate of transport vechicle, angle and carriage degree of depth) etc. through the machine vision algorithm, and establish the dynamic navigation route of AGV according to real-time data, combine the on-vehicle detection sensor of AGV to carry out the function of automatic loading and unloading car at the secondary assistance-localization real-time of loading and unloading car in-process at every turn, realize AGV butt joint transport vechicle, the system adaptation is in balanced fork AGV and forward fork AGV, the application covers links such as storage receipts of each trade, delivery, in-plant transportation.
In addition, the method for automatically loading and unloading the transport vehicle mainly comprises two modes of loading and unloading. It will be appreciated that loading in this embodiment refers to loading of cargo onto a transporter, and unloading refers to unloading of cargo from a transporter. In order to realize the loading and unloading truck, the embodiment not only needs to carry out interaction coordination on the loading and unloading truck system, but also needs to carry out interaction coordination on other systems of the loading and unloading truck so as to improve the loading and unloading truck efficiency, as shown in fig. 4, the loading and unloading truck ATLS in the embodiment interacts with a warehouse management system WCS and an AGV trolley respectively, and the warehouse management system WCS interacts with a warehouse management system WMS and an AGV upper system respectively, so that the loading and unloading truck is realized through interaction among the systems.
Specifically, for loading, the process is as follows: the first step, WMS order generation, the second step, transport vehicle entrance, ATLS (namely the automatic loading and unloading system in the embodiment) acquires order data through WCS, the WCS guides the transport vehicle to lean against according to berth allocated by the WCS, the WCS informs an AGV upper system of transport vehicle entrance area traffic control, the third step, transport vehicle berthing is completed, the ATLS confirms that loading conditions are provided, transport vehicle position detection, vehicle type detection, cargo space matching and cargo detection are carried out, after completion, the WCS applies for AGV tasks, the AGV upper system releases transport vehicle entrance area traffic control, the fourth step, the WCS issues AGV tasks to the AGV upper system according to a certain rule according to loading sequence, the AGV upper system distributes AGV trolley to fixedly pick up goods before, and then to transport vehicle platform, the fifth step, the AGV route of the transport vehicle near berth area is a dynamic path, the AGV trolley is required to apply for real-time path coordinates to the ATLS, the ATLS receives the path application, verifies task information to the WCS, calls a sky-eye system to detect the position and the goods space state of the transport vehicle, generates a dynamic path, sends the dynamic path to the AGV trolley, sends successful confirmation to the seventh step, the AGV trolley receives the dynamic path, drives into a transport vehicle platform, utilizes a vehicle-mounted sensor to secondarily locate the unloading position to finish unloading, applies for the dynamic path of a berth area to the ATLS, the eighth step, the ATLS receives the path application, generates the dynamic path, sends the dynamic path to the AGV, sends successful confirmation to the ninth step, the AGV receives the dynamic path, drives out of the transport vehicle platform, reports the loading completion information at the end point of the dynamic path, ends the current task to the tenth step, the WCS repeats the steps from 4 to 9 until the order is ended, the eleventh step, the WMS order is reported to the end, the central control room informs the driver of the transport vehicle to leave the field, the WCS informs the AGV upper system of traffic control of the departure area, and the twelfth step, the driver leaves the yard, and the WCS informs the AGV upper system of recovering the controlled AGV trolley.
For unloading, the process is as follows: the first step, WMS order generation, the second step, transport vehicle entrance, ATLS obtain order data through WCS, and guide transport vehicle forward berthing according to the berth allocated by WCS, WCS informs AGV upper system transport vehicle entrance area traffic control, the third step, transport vehicle berthing is completed, ATLS carries out transport vehicle position detection, vehicle type detection, goods position matching, goods detection, report WCS application AGV task after completion, AGV upper system releases transport vehicle entrance area traffic control, the fourth step, WCS allocates unloading buffer area address according to unloading sequence, AGV task is issued according to certain rule to AGV upper system, AGV upper system allocates AGV trolley forward transport vehicle platform to get goods, the fifth step, AGV route of transport vehicle berth nearby area is dynamic path, AGV trolley is required to apply real-time path coordinate to ATLS, the sixth step, ATLS receives path application, checking task information to WCS, calling sky eye system to detect transport vehicle position and goods position, generating dynamic path, sending dynamic path to AGV, sending successful confirmation to seventh step, AGV receiving dynamic path, driving into transport vehicle platform, utilizing vehicle-mounted sensor to position goods-taking position twice, finishing goods-taking, applying for dynamic path of out berth area to ATLS, eighth step, ATLS receiving path application, generating dynamic path, sending dynamic path to AGV, sending successful confirmation to ninth step, AGV receiving dynamic path, driving out transport vehicle platform, reporting unloading completion information to unloading buffer platform at end point of dynamic path, reporting AGV upper system task completion to tenth step after end, WCS repeating steps 4 to 9 until order end, eleventh step, reporting WMS order end, central control room notifying transport vehicle driver of leaving field, the WCS informs the AGV upper system of traffic control of the departure area, and the twelfth step, the driver leaves the yard, and the WCS informs the AGV upper system of recovering the controlled AGV trolley.
In addition, the sky eye system mentioned in the above-mentioned loading and unloading processes is used for confirming the berth state of the transport vehicle, when the transport vehicle driver confirms that the transport vehicle has the conditions, the ATL process is initiated, the loading/unloading management function calls the sky eye system to identify the berth condition of the transport vehicle, if the parking deviation exceeds the limit or the parking is wrong, the warning notification is given, otherwise, the X axis, the Y axis and the angle deviation of the reference origin of the transport vehicle are identified, and the unloading needs to simultaneously identify whether the station goods of the tray carried by the transport vehicle have the deviation from the X axis. In other words, the sky eye system is achieved by visual detection techniques:
1. detecting whether the transport vehicle overtakes;
2. detecting transport vehicle berthing position data (x, y, z, angle);
3. detecting platform position data (transport vehicle loading: according to region division; transport vehicle unloading: according to sequence division, position deviation) on the transport vehicle;
4. safety protection detection (illegal personnel intrude into the working area).
In an embodiment, the detecting sensor configured through the berth area detects whether the transport vehicle is berthed successfully, and performs positioning detection on the transport vehicle and the pallet materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm, including:
The automatic loading and unloading vehicle system calls a visual detection system to acquire image information of the transport vehicle;
performing image processing on the image information to obtain position data of the transport vehicle;
and carrying out overtlimit detection on the parking position of the transport vehicle according to the position data, and confirming whether the transport vehicle is successfully berthed according to the result of the overtlimit detection.
In this embodiment, before loading and unloading the vehicle, it is necessary to determine whether the vehicle is successfully berthed. Firstly, a transport vehicle driver parks the vehicle at a berth, and informs a dispatching room to confirm whether the berth exceeds the edge; then, ATLS confirms the binding vehicle and berth according to the order; then, the upper system initiates a transport vehicle overrun detection service, and if the transport vehicle stopping position is overrun, the service is terminated, and the transport vehicle is stopped again; and if the stop of the transport vehicle is not overrun, notifying the WCS to confirm that the stop of the transport vehicle is finished, and releasing the AGV traffic control. In an actual application scenario, the visual detection system described in this embodiment is the sky-eye system described above.
In some alternative embodiments, the transport vehicle position measurement business process is as follows:
the first step: the WCS initiates a task, and the ATLS system receives the task information and starts measurement;
And a second step of: the ATLS system calls a sky eye system interface to acquire vehicle position data (ATLS- > sky eye);
and a third step of: the sky eye system analyzes the image information and calculates transport vehicle position data X, Y, Z, angle;
fourth step: the sky eye system judges whether the parking position of the transport vehicle exceeds the limit;
fifth step: the sky eye system feeds back data information to the ATLS system, and the ALTS system updates the data to a database (sky eye- > ATLS);
sixth step: the ALTS system judges the next operation (alarming or ending tasks and the like) according to the superside detection result;
the transport vehicle position measurement will initiate measurements before each AGV loading and unloading task and before the order begins to determine the subsequent job.
In an embodiment, the order task is a loading task;
the step of obtaining the association data of the AGV trolley and generating a dynamic navigation path by combining the association data and the positioning detection result comprises the following steps:
the AGV upper system is used for dispatching the AGV trolley to go to a fixed platform to fork and take the tray materials, and after fork taking is completed, the AGV trolley is dispatched to go to a near point of the transport vehicle;
acquiring position information of a transport vehicle through a visual detection system, and generating a first loading dynamic path according to the position information of the transport vehicle;
The dynamic navigation path is sent to an AGV upper system, and the AGV upper system is led to guide an AGV trolley to load or unload the transport vehicle according to the dynamic navigation path, and the method comprises the following steps:
and sending the first loading dynamic path to the AGV trolley, so that the AGV trolley drives into two sides of the transport vehicle according to the first loading dynamic path, detecting the edge position of the transport vehicle by using a vehicle-mounted sensor, and moving the fork after reaching the set tray placement depth, so that the materials are close to be placed.
Further, when receiving the loading completion feedback sent by the AGV trolley after the unloading is completed and applying for running out of the real-time path coordinates of the loading area, generating a second loading dynamic path according to the visual detection system and sending the second loading dynamic path to the AGV trolley, so that the AGV trolley runs out according to the second loading dynamic path.
In this embodiment, when the order task is a loading task, as shown in fig. 5, the method specifically includes the following steps:
the first step: the WCS initiates a task, and the AGV upper system dispatches the AGV trolley to a fixed platform to fork and take the tray materials;
and a second step of: AGVs go to points near the transport vehicle to apply for loading (AGVs- > PC) to the upper system;
and a third step of: the PC generates an AGV temporary navigation path according to the position information of the transport vehicle fed back by the sky-eye system;
Fourth step: the PC sends a temporary navigation path to the AGV, and after success, the loading application (PC- > AGV) is approved
Fifth step: the AGV trolley drives into two sides of the transport vehicle to load according to the navigation path;
sixth step: the AGV utilizes a vehicle-mounted sensor to detect the edge of the transport vehicle, and moves the fork aside after reaching the set tray placement depth, so that materials are close to be placed;
seventh step: the AGV applies for unloading to the upper position to finish, and applies for a path (AGV- > PC) of exiting the loading area;
eighth step: and the PC receives the AGV application, and sends a temporary navigation path (PC- > AGV) which exits the loading area, and after the AGV exits, the task is ended.
It should be noted that only one AGV is allowed to travel into the loading area side of the transport at the same time, while other AGVs wait at nearby standby points.
In some embodiments, when loading and unloading the vehicle, it is also necessary to measure the cargo box, the cargo box measurement service is as follows:
the first step: the WCS initiates a task, and the AGV upper system dispatches the AGV trolley to stop in front of the cargo box, and the AGV applies for measuring the cargo box to the upper position;
and a second step of: the PC receives the application, acquires the ID of the cargo compartment measuring point and initiates a cargo compartment measuring message (PC- > AGV);
and a third step of: the AGV vehicle-mounted controller intercepts the current environment laser radar point cloud data and feeds back PC (AGV- > PC);
Fourth step: the PC reads the position data (AGV- > PC) of the trolley and the laser head;
fifth step: the PC calls a cargo box fitting program, establishes navigation information and stores the navigation information in a database;
sixth step: the PC sends navigation information to the AGV and updates the car navigation environment;
seventh step: the AGV receives the navigation wall information sent by the PC, successfully updates the navigation environment, and feeds back confirmation information (or failure reasons);
eighth step: and the PC receives the confirmation information sent by the AGV, updates the berth data of the transport vehicle, records the log and completes the measurement business of the cargo compartment.
Further, the loading business for the cargo box is as follows:
the first step: the WCS initiates a task, and the AGV upper system dispatches the AGV trolley to a fixed platform to fork and take the tray materials;
and a second step of: AGVs go to points near the transport vehicle to apply for loading (AGVs- > PC) to the upper system;
and a third step of: the PC generates a temporary navigation path and a navigation environment according to the position information of the transport vehicle and the AGV path information stored in the database;
fourth step: the PC sends a temporary navigation path and a navigation environment to the AGV, and after success, the loading application (PC- > AGV) is approved;
fifth step: the AGV trolley drives into the cargo box according to the navigation path;
sixth step: the AGV detects the unloading depth by using a vehicle-mounted sensor, detects the distance between the trolley and the adjacent compartment wall, and moves the fork to the rear side when the distance reaches the set depth, so that the materials are placed close to the wall;
Seventh step: the AGV applies for unloading completion to the upper position and applies for a path (AGV- > PC) for driving out the cargo box;
eighth step: and the PC receives the AGV application and sends a temporary navigation path (PC- > AGV) for driving the goods out of the carriage, and the AGV drives the goods out of the carriage, so that the task is finished.
Similarly, only one AGV is allowed to enter the load bed at a time, and the other AGVs wait at nearby standby points.
In an embodiment, the order task is a discharge task;
the method for acquiring the association data of the AGV trolley, generating a dynamic navigation path by combining the association data and the positioning detection result, and further comprises the following steps:
the AGV upper system is used for dispatching the AGV trolley to apply for unloading to the point nearby the transport vehicle;
acquiring position information of a transport vehicle and position information of a tray through a visual detection system, and generating a first unloading dynamic path according to the position information of the transport vehicle and the position information of the tray;
the method comprises the steps of sending the dynamic navigation path to an AGV upper system, leading the AGV upper system to guide an AGV trolley to go to a transport vehicle for loading or unloading according to the dynamic navigation path, and further comprising the following steps:
and sending the first unloading dynamic path to the AGV trolley, so that the AGV trolley drives into an unloading area of the transport vehicle according to the first unloading dynamic path, detects the jack position of the tray by using the 3D camera when the AGV trolley is close to the tray, and then adjusts the fork according to the detected jack position to fork and take the goods.
Further, when receiving the real-time path coordinates of the loading completion feedback sent by the AGV after forking cargoes and applying for exiting the loading area, generating a second unloading dynamic path according to the visual detection system and sending the second unloading dynamic path to the AGV, so that the AGV exits according to the second unloading dynamic path.
In this embodiment, when the order task is a unloading task, as shown in fig. 6, the method specifically includes the following steps:
the first step: the WCS initiates a task, and the AGV upper system dispatches the AGV trolley to apply for unloading (AGV- > PC) to a point nearby the transport vehicle;
and a second step of: the PC generates an AGV temporary navigation path according to the position information of the transport vehicle and the tray fed back by the sky-eye system;
and a third step of: the PC sends a temporary navigation path to the AGV, and after success, the loading application (PC- > AGV) is approved;
fourth step: the AGV trolley enters an unloading area according to the navigation path;
fifth step: when the AGV approaches to the tray, detecting the position of a tray jack by using a 3D camera, adjusting a fork to a proper position, and driving in to fork and pick up the goods;
sixth step: the AGV applies for loading completion to the upper position and applies for a path (AGV- > PC) for driving out of the unloading area;
seventh step: the method comprises the steps that a PC receives an AGV application and sends a temporary navigation path (PC- > AGV) which drives out of an unloading area, and the AGV drives out of the unloading area;
Eighth step: the AGV goes to a fixed platform to apply for unloading, and after confirmation, the unloading (AGV- > PC) is completed at the platform.
In some embodiments, the unloading business flow for the cargo box is as follows:
the first step: the WCS initiates a task, and the AGV upper system dispatches the AGV trolley to apply for unloading (AGV- > PC) to a point nearby the transport vehicle;
and a second step of: the PC generates a temporary navigation path and a navigation environment according to the position information of the transport vehicle and the AGV path information stored in the database;
and a third step of: the PC sends a temporary navigation path and a navigation environment to the AGV, and after success, the loading application (PC- > AGV) is approved;
fourth step: the AGV trolley drives into the cargo box according to the navigation path;
fifth step: the AGV detects loading depth by using a vehicle-mounted sensor, detects the position of a tray jack by using a 3D camera when approaching to the tray, adjusts a fork to a proper position, and drives into loading;
sixth step: the AGV applies for loading completion to the upper position and applies for a path (AGV- > PC) for driving out the cargo box;
seventh step: the method comprises the steps that a PC receives an AGV application and sends a temporary navigation path (PC- > AGV) for driving a cargo box, and the AGV drives the cargo box;
eighth step: the AGV goes to a fixed platform to apply for unloading, and after confirmation, the unloading (AGV- > PC) is completed at the platform.
Similarly, only one AGV is allowed to enter the load bed at a time, and the other AGVs wait at nearby standby points.
In other embodiments, when unloading, the measurement needs to be performed on the tray on the carrier, and the measurement business process of the tray on the carrier is as follows:
the first step: the WCS initiates a unloading task, and the ATLS system starts to measure after receiving the task information;
and a second step of: the ATLS system calls a sky eye system interface to acquire the position data (ATLS- > sky eye) of the tray on the transport vehicle;
and a third step of: the sky eye system analyzes the image information and counts the number and arrangement condition of the trays on the transport vehicle;
fourth step: the sky eye system calculates tray position data X, Y, angle on the transport vehicle;
fifth step: the sky eye system feeds back data information to the ATLS system, and the ALTS system updates the data to a database (sky eye- > ATLS);
sixth step: the ALTS system judges the next operation (generating a dynamic path, reporting the WCS cargo space condition and the like) according to the tray detection result.
It should be noted that the measurement of the position of the tray on the transport vehicle will be initiated before each AGV unloading task and before the order begins, so as to determine the subsequent work.
In an embodiment, referring to fig. 7 to fig. 9, the truck system obtains position information of the transport vehicle through a visual detection system, and generates the first loading dynamic path according to the position information of the transport vehicle, including:
Constructing a Layout coordinate system of a factory floor total map, constructing a berth coordinate system of a transport vehicle berth under the Layout coordinate system, and acquiring a coordinate angle theta of a berth origin O of the berth coordinate system relative to a factory floor origin of the Layout coordinate system A ；
Selecting a transport vehicle origin coordinate BO of a transport vehicle, and acquiring an offset angle theta of the vehicle origin coordinate BO relative to a berth coordinate origin O of a berth coordinate system t ；
According to the offset angle theta t Calculating to obtain an offset matrix BT of the transport vehicle relative to a berth coordinate system;
in the Layout coordinate system, arbitrarily setting a target point P associated with a transport vehicle route;
calculating an offset point P' of the transport vehicle after offset compensation according to the following steps:
P’= A -1 (T×A(P-BO)+BT)+BO；
wherein A represents the coordinate angle θ A T represents the offset angle θ t Is used for the association array matrix of the (a),，/>；
and generating the first loading dynamic path based on the offset point P' and combining the target point P, the origin coordinates BO of the transport vehicle and the offset matrix BT.
According to the embodiment, the offset value of the transport vehicle relative to the berth coordinate system is obtained by constructing the berth coordinate system and the transport vehicle Layout coordinate system, so that offset compensation information of the AGV trolley when entering and exiting the transport vehicle is obtained, the generated loading path is more accurate and reliable, and the loading efficiency is improved. It will be appreciated that, in addition to the first loading dynamic path, the remaining paths, such as the second loading dynamic path under the first dynamic path and the second unloading dynamic path under the second dynamic path, may be generated in the above manner, as long as they are distinguished by the selection of the target point P, and so on. As further shown in fig. 10 and 11, fig. 10 is a truck side direction truck dynamic route, where a-b-c is a generated truck path, fig. 11 is a flatbed truck dynamic route, where a-b '-c' is a generated truck path, and both dynamic paths can be obtained by referring to the path generation method described above.
In some alternative embodiments, the navigation environment samples are as follows:
<?xml version="1.0" ?>
<Parts>
< AddWall endx= "9594" endy= "21889" startx= "10800" starty= "21935" wallid= "0"/> #id0 navigation wall position coordinates
< AddWall endx= "9582" endy= "22110" startx= "9594" starty= "21889" wallid= "1"/> #id1 navigation wall position coordinates
< AddWall endx= "9582" endy= "22110" startx= "10787" starty= "22184" wallid= "2"/> #id2 navigation wall position coordinates
</Parts>。
Fig. 2 is a schematic block diagram of a truck system 200 for a transport vehicle according to an embodiment of the present invention, the system 200 comprising:
a task acquisition unit 201, configured to acquire an order task from a warehouse control system, and guide a transportation vehicle to berth for berthing according to the order task; the order task comprises a loading task and a unloading task;
the vehicle detection unit 202 is configured to detect whether the transport vehicle is successfully parked through a detection sensor configured in the berth area, and perform positioning detection on the transport vehicle and the tray materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm;
the path generating unit 203 is configured to obtain association data of the AGV trolley, and generate a dynamic navigation path by combining the association data and a positioning detection result; the associated data comprises position information and state information of the AGV;
And the loading and unloading unit 204 is used for sending the dynamic navigation path to the AGV upper system and enabling the AGV upper system to guide the AGV to go to the transport vehicle for loading or unloading according to the dynamic navigation path.
In one embodiment, the vehicle detection unit 202 includes:
the image acquisition unit is used for calling the visual detection system to acquire the image information of the transport vehicle;
the image processing unit is used for carrying out image processing on the image information to obtain the position data of the transport vehicle;
and the overtlimit detection unit is used for carrying out overtlimit detection on the parking position of the transport vehicle according to the position data and confirming whether the transport vehicle is successfully parked according to the overtlimit detection result.
In an embodiment, the order task is a loading task;
the path generation unit 203 includes:
the first dispatching unit is used for dispatching the AGV trolley to the fixed platform for forking the tray materials through the AGV upper system, and dispatching the AGV trolley to the near point of the transport vehicle after forking is completed;
the first loading path generation unit is used for acquiring the position information of the transport vehicle through the visual detection system and generating a first loading dynamic path according to the position information of the transport vehicle;
The lift truck unit 204 includes:
and the loading unit is used for sending the first loading dynamic path to the AGV trolley so that the AGV trolley drives into two sides of the transport vehicle according to the first loading dynamic path, then detecting the edge position of the transport vehicle by using the vehicle-mounted sensor, and moving the fork to the rear side of the set tray placement depth to close and place the materials.
In one embodiment, the transport vehicle truck system 200 further comprises:
and the second loading path generating unit is used for generating a second loading dynamic path according to the visual detection system and sending the second loading dynamic path to the AGV trolley when receiving loading completion feedback sent by the AGV trolley after unloading is completed and applying for exiting the real-time path coordinates of the loading area, so that the AGV trolley exits according to the second loading dynamic path.
In an embodiment, the order task is a discharge task;
the path generation unit 203 further includes:
the second scheduling unit is used for scheduling the AGV trolley to go to a point near the transport vehicle to apply for unloading through the AGV upper system;
the first unloading path generating unit is used for acquiring the position information of the transport vehicle and the position information of the tray through the visual detection system and generating a first unloading dynamic path according to the position information of the transport vehicle and the position information of the tray;
The lift truck unit 204 further includes:
and the unloading unit is used for sending the first unloading dynamic path to the AGV trolley so that the AGV trolley drives into an unloading area of the transport vehicle according to the first unloading dynamic path, detecting the jack position of the tray by using the 3D camera when the AGV trolley is close to the tray, and then adjusting the fork according to the detected jack position so as to fork the goods.
In one embodiment, the transport vehicle truck system 200 further comprises:
and the second unloading path generating unit is used for generating a second unloading dynamic path according to the visual detection system and sending the second unloading dynamic path to the AGV trolley when receiving the real-time path coordinates of the loading completion feedback sent by the AGV trolley after forking cargoes and applying for exiting a loading area, so that the AGV trolley exits according to the second unloading dynamic path.
In an embodiment, the first loading path generating unit includes:
a coordinate system construction unit for constructing a Layout coordinate system of the factory floor total map, constructing a berth coordinate system of the transport vehicle berth under the Layout coordinate system, and acquiring a coordinate angle theta of a berth origin O of the berth coordinate system relative to a factory floor origin of the Layout coordinate system A ；
An offset angle obtaining unit for selecting a transport vehicle origin coordinate BO of the transport vehicle and obtaining an offset angle θ of the origin coordinate BO of the transport vehicle relative to a berth coordinate origin O of a berth coordinate system t ；
An offset matrix acquisition unit for acquiring the offset angle θ t Calculating to obtain an offset matrix BT of the transport vehicle relative to a berth coordinate system;
a target point setting unit for arbitrarily setting a target point P associated with the transport vehicle route in the Layout coordinate system;
the offset point calculating unit is used for calculating an offset point P' of the transport vehicle after offset compensation according to the following steps:
P’= A -1 (T×A(P-BO)+BT)+BO；
wherein A represents the coordinate angle θ A T represents the offset angle θ t Is used for the association array matrix of the (a),，/>；
the combination generating unit is configured to generate the first loading dynamic path based on the offset point P' and in combination with the target point P, the origin coordinates BO of the transport vehicle, and the offset matrix BT.
Since the embodiments of the system portion and the embodiments of the method portion correspond to each other, the embodiments of the system portion refer to the description of the embodiments of the method portion, which is not repeated herein.
The embodiment of the present invention also provides a computer readable storage medium having a computer program stored thereon, which when executed can implement the steps provided in the above embodiment. The storage medium may include: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The embodiment of the application also provides a computer device, which can comprise a memory and a processor, wherein the memory stores a computer program, and the processor can realize the steps provided by the embodiment when calling the computer program in the memory. Of course, the computer device may also include various network interfaces, power supplies, and the like.
In the description, each embodiment is described in a progressive manner, and each embodiment is mainly described by the differences from other embodiments, so that the same similar parts among the embodiments are mutually referred. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
It should also be noted that in this specification, 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 apparatus 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 apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method of automatically loading and unloading a transport vehicle, comprising:
acquiring an order task from a warehouse control system, and guiding a transport vehicle to go to a berth area for berthing according to the order task; the order task comprises a loading task and a unloading task;
detecting whether the transport vehicle is successfully parked or not through a detection sensor configured in the berth area, and carrying out positioning detection on the transport vehicle and tray materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm;
acquiring associated data of an AGV, and generating a dynamic navigation path by combining the associated data and a positioning detection result; the associated data comprises position information and state information of the AGV;
and sending the dynamic navigation path to an AGV upper system, and enabling the AGV upper system to guide the AGV trolley to go to the transport vehicle for loading or unloading according to the dynamic navigation path.
2. The method of claim 1, wherein the detecting sensor configured by the berthing area detects whether the truck is successfully berthed, and combines the edge detection and the machine learning algorithm to perform positioning detection on the truck and the pallet materials on the truck, comprising:
Calling a visual detection system to acquire image information of the transport vehicle;
performing image processing on the image information to obtain position data of the transport vehicle;
and carrying out overtlimit detection on the parking position of the transport vehicle according to the position data, and confirming whether the transport vehicle is successfully berthed according to the result of the overtlimit detection.
3. The method of automated transport vehicle loading and unloading of claim 1, wherein the order task is a loading task;
the step of obtaining the association data of the AGV trolley and generating a dynamic navigation path by combining the association data and the positioning detection result comprises the following steps:
the AGV upper system is used for dispatching the AGV trolley to go to a fixed platform to fork and take the tray materials, and after fork taking is completed, the AGV trolley is dispatched to go to a near point of the transport vehicle;
acquiring position information of a transport vehicle through a visual detection system, and generating a first loading dynamic path according to the position information of the transport vehicle;
the dynamic navigation path is sent to an AGV upper system, and the AGV upper system is led to guide an AGV trolley to load or unload the transport vehicle according to the dynamic navigation path, and the method comprises the following steps:
and sending the first loading dynamic path to the AGV trolley, so that the AGV trolley drives into two sides of the transport vehicle according to the first loading dynamic path, detecting the edge position of the transport vehicle by using a vehicle-mounted sensor, and moving the fork after reaching the set tray placement depth, so that the materials are close to be placed.
4. A method of truck loading according to claim 3 further comprising:
when receiving the loading completion feedback sent by the AGV after the unloading is completed and applying for running out of the real-time path coordinates of the loading area, generating a second loading dynamic path according to the vision detection system and sending the second loading dynamic path to the AGV, so that the AGV runs out according to the second loading dynamic path.
5. The method of truck loading and unloading of a transport vehicle of claim 1 wherein the order task is an unloading task;
the method for acquiring the association data of the AGV trolley, generating a dynamic navigation path by combining the association data and the positioning detection result, and further comprises the following steps:
the AGV upper system is used for dispatching the AGV trolley to apply for unloading to the point nearby the transport vehicle;
acquiring position information of a transport vehicle and position information of a tray through a visual detection system, and generating a first unloading dynamic path according to the position information of the transport vehicle and the position information of the tray;
the method comprises the steps of sending the dynamic navigation path to an AGV upper system, leading the AGV upper system to guide an AGV trolley to go to a transport vehicle for loading or unloading according to the dynamic navigation path, and further comprising the following steps:
And sending the first unloading dynamic path to the AGV trolley, so that the AGV trolley drives into an unloading area of the transport vehicle according to the first unloading dynamic path, detects the jack position of the tray by using the 3D camera when the AGV trolley is close to the tray, and then adjusts the fork according to the detected jack position to fork and take the goods.
6. The method of truck loading and unloading for a transport vehicle of claim 5 further comprising:
when receiving the real-time path coordinates of the loading completion feedback sent by the AGV after forking cargoes and applying for exiting the loading area, generating a second unloading dynamic path according to the visual detection system and sending the second unloading dynamic path to the AGV, so that the AGV exits according to the second unloading dynamic path.
7. The method of claim 3, wherein the obtaining, by the vision inspection system, the position information of the transporter and generating the first loading dynamic path according to the position information of the transporter comprises:
constructing a Layout coordinate system of a factory floor total map, constructing a berth coordinate system of a transport vehicle berth under the Layout coordinate system, and acquiring a coordinate angle theta of a berth origin O of the berth coordinate system relative to a factory floor origin of the Layout coordinate system A ；
Selecting a transport vehicle origin coordinate BO of a transport vehicle, and acquiring an offset angle theta of the vehicle origin coordinate BO relative to a berth coordinate origin O of a berth coordinate system t ；
According to the offset angle theta t Calculating to obtain an offset matrix BT of the transport vehicle relative to a berth coordinate system;
in the Layout coordinate system, arbitrarily setting a target point P associated with a transport vehicle route;
calculating an offset point P' of the transport vehicle after offset compensation according to the following steps:
P’= A -1 (T×A(P-BO)+BT)+BO；
wherein A represents the coordinate angle θ A T represents the offset angle θ t Is used for the association array matrix of the (a),，/>；
and generating the first loading dynamic path based on the offset point P' and combining the target point P, the origin coordinates BO of the transport vehicle and the offset matrix BT.
8. A transport vehicle truck system, comprising:
the task acquisition unit is used for acquiring an order task from the warehouse control system and guiding the transportation vehicle to go to a berth area for berthing according to the order task; the order task comprises a loading task and a unloading task;
the vehicle detection unit is used for detecting whether the transport vehicle is successfully parked through a detection sensor configured in the berth area, and carrying out positioning detection on the transport vehicle and tray materials on the transport vehicle by combining an edge detection algorithm and a machine learning algorithm;
The path generation unit is used for acquiring the association data of the AGV trolley and generating a dynamic navigation path by combining the association data and the positioning detection result; the associated data comprises position information and state information of the AGV;
and the loading and unloading vehicle unit is used for sending the dynamic navigation path to the AGV upper system and leading the AGV upper system to guide the AGV trolley to go to the transport vehicle for loading or unloading according to the dynamic navigation path.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of truck loading and unloading according to any one of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the method of truck loading and unloading of a transport vehicle according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311191575.1A CN116931532B (en) | 2023-09-15 | 2023-09-15 | Method, system, computer device and storage medium for automatic loading and unloading of transport vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311191575.1A CN116931532B (en) | 2023-09-15 | 2023-09-15 | Method, system, computer device and storage medium for automatic loading and unloading of transport vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116931532A true CN116931532A (en) | 2023-10-24 |
| CN116931532B CN116931532B (en) | 2023-12-05 |
Family
ID=88375720
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311191575.1A Active CN116931532B (en) | 2023-09-15 | 2023-09-15 | Method, system, computer device and storage medium for automatic loading and unloading of transport vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116931532B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080167817A1 (en) * | 2007-01-06 | 2008-07-10 | Transbotics Corporation | Automated cargo loading systems and methods |
| CN101561680A (en) * | 2009-05-11 | 2009-10-21 | 南京航空航天大学 | Embedded guidance device of autonomous vehicle and intelligent composite guidance method thereof |
| US20110301800A1 (en) * | 2010-06-03 | 2011-12-08 | Hitachi Plant Technologies, Ltd. | Automatic guided vehicle and method for drive control of the same |
| US20120316722A1 (en) * | 2010-12-10 | 2012-12-13 | Zeitler David W | Advanced navigation and guidance system and method for an automatic guided vehicle (agv) |
| CN109976320A (en) * | 2017-12-27 | 2019-07-05 | 中国科学院沈阳自动化研究所 | A kind of more AGV paths planning methods based on time window on-line amending |
| CN113327201A (en) * | 2020-02-12 | 2021-08-31 | 佛吉亚歌乐电子有限公司 | Image processing apparatus and image processing method |
| CN113342004A (en) * | 2021-07-29 | 2021-09-03 | 山东华力机电有限公司 | Multi-AGV (automatic guided vehicle) scheduling method and system based on artificial intelligence and visual perception |
| CN113493085A (en) * | 2021-07-22 | 2021-10-12 | 意欧斯物流科技(上海)有限公司 | Automatic loading and transporting method and system for forklift type AGV (automatic guided vehicle) butt joint production line |
| CN115535507A (en) * | 2022-10-17 | 2022-12-30 | 珠海格力智能装备有限公司 | Automatic loading and unloading vehicle control method and device, storage medium and electronic equipment |
| CN115712287A (en) * | 2022-11-29 | 2023-02-24 | 上海烟草机械有限责任公司 | Cargo handling system based on AGV conveyer |
-
2023
- 2023-09-15 CN CN202311191575.1A patent/CN116931532B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080167817A1 (en) * | 2007-01-06 | 2008-07-10 | Transbotics Corporation | Automated cargo loading systems and methods |
| CN101561680A (en) * | 2009-05-11 | 2009-10-21 | 南京航空航天大学 | Embedded guidance device of autonomous vehicle and intelligent composite guidance method thereof |
| US20110301800A1 (en) * | 2010-06-03 | 2011-12-08 | Hitachi Plant Technologies, Ltd. | Automatic guided vehicle and method for drive control of the same |
| US20120316722A1 (en) * | 2010-12-10 | 2012-12-13 | Zeitler David W | Advanced navigation and guidance system and method for an automatic guided vehicle (agv) |
| CN109976320A (en) * | 2017-12-27 | 2019-07-05 | 中国科学院沈阳自动化研究所 | A kind of more AGV paths planning methods based on time window on-line amending |
| CN113327201A (en) * | 2020-02-12 | 2021-08-31 | 佛吉亚歌乐电子有限公司 | Image processing apparatus and image processing method |
| CN113493085A (en) * | 2021-07-22 | 2021-10-12 | 意欧斯物流科技(上海)有限公司 | Automatic loading and transporting method and system for forklift type AGV (automatic guided vehicle) butt joint production line |
| CN113342004A (en) * | 2021-07-29 | 2021-09-03 | 山东华力机电有限公司 | Multi-AGV (automatic guided vehicle) scheduling method and system based on artificial intelligence and visual perception |
| CN115535507A (en) * | 2022-10-17 | 2022-12-30 | 珠海格力智能装备有限公司 | Automatic loading and unloading vehicle control method and device, storage medium and electronic equipment |
| CN115712287A (en) * | 2022-11-29 | 2023-02-24 | 上海烟草机械有限责任公司 | Cargo handling system based on AGV conveyer |
Non-Patent Citations (1)
| Title |
|---|
| 林晖: "装车机器人的环境感知与智能控制", 《中国优秀硕士学位论文全文数据库信息科技辑》, no. 11, pages 138 - 251 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116931532B (en) | 2023-12-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11353858B2 (en) | Systems and methods for automated guided vehicle control | |
| JP3085468B2 (en) | Container handling equipment and management system | |
| WO2020010860A1 (en) | System for realizing automated transport of goods and related apparatus | |
| US11565420B2 (en) | Teleoperation in a smart container yard | |
| CN109726969B (en) | Port intelligent control system and related system and device | |
| US20110301800A1 (en) | Automatic guided vehicle and method for drive control of the same | |
| CN109711787B (en) | Port intelligent control system and related system and device | |
| KR101660162B1 (en) | Automated guided vehicle system based on autonomous mobile technique and a method for controlling the same | |
| WO1998015883A1 (en) | Physical distribution/transportation system and integrated physical distribution system | |
| JP7469494B2 (en) | Method for controlling an automated guided vehicle and a control system configured to carry out said method - Patents.com | |
| CN114455511A (en) | Forklift loading method and equipment and computer readable storage medium | |
| JP7207046B2 (en) | Autonomous mobile device, guidance system, and method of moving autonomous mobile device | |
| US20220076579A1 (en) | Automatic vehicle dispatching system and automatic vehicle dispatching method | |
| CN116931532B (en) | Method, system, computer device and storage medium for automatic loading and unloading of transport vehicle | |
| CN117234159A (en) | Operation control method and system for loading and unloading of intelligent AGV trolley | |
| JP7112803B1 (en) | Transport system and transport control method | |
| US20220075381A1 (en) | Required transfer time prediction device and required transfer time prediction method | |
| CN115903826A (en) | Path planning method and path planning device | |
| JP7339532B2 (en) | loading and unloading system | |
| CN114265374A (en) | System and method for AGV to access van truck goods | |
| CN112551195A (en) | Method for butting vehicle and boarding bridge and platform management system | |
| WO2023218816A1 (en) | Unmanned transport system, reporting method for unmanned transport system, and program recording medium having program for unmanned transport system recorded thereon | |
| US20240051521A1 (en) | Autonomous Path Variation to Distribute Weight and Wear | |
| CN117521936B (en) | Scheduling method and device of carrying equipment and electronic equipment | |
| WO2022190324A1 (en) | Moving system and management device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |