Cargo unloading method, device, electronic device and storage medium

Abstract

The present invention relates to the field of cargo unloading, and specifically to a cargo unloading method, device, electronic device and storage medium. It comprises: obtaining a cargo unloading position corresponding to the target cargo on the pallet of a target forklift; determining the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position; when the target forklift travels to the pallet posture adjustment position, adjusting the posture of the pallet corresponding to the target forklift to obtain the target posture corresponding to the pallet; planning a target path from the pallet posture adjustment position to the cargo unloading position according to the relationship between the target posture, the pallet posture adjustment position and the cargo unloading position; based on the target path, traveling from the pallet posture adjustment position to the cargo unloading position to unload the target cargo. The above method solves the problem that during the transportation of cargo, the posture of the pallet relative to the target forklift is offset due to bumps and other reasons, which ultimately leads to improper placement of the cargo and causes safety accidents.

Description

Technical Field

[0001] The present invention relates to the field of cargo unloading, and in particular to a cargo unloading method, device, electronic equipment and storage medium. Background Art

[0002] With the continuous advancement of intelligent and digital technologies, the level of automation in on-site operations for construction vehicles is increasing, and unmanned forklift operations in industrial parks have become a current development trend. As intelligent industrial vehicles that autonomously track paths and perform loading and unloading tasks without manual operation, construction forklifts' automated loading and unloading is a crucial part of the entire operation process. Certain scenarios require high precision or require stacked cargo, so the placement accuracy of construction forklifts during unloading is highly demanding. However, various errors generated during the operation can pose significant challenges to the forklift's unloading accuracy.

[0003] In the existing technology, the position and posture of the pallet will deviate and change during the loading and transportation of goods by the engineering forklift. Since it is impossible to detect the deviation and change of the pallet's position and feedback it to the control system, these deviations and changes in the pallet's position will pose a great challenge to the cargo unloading accuracy of the engineering forklift, often causing the actual unloading position of the cargo to deviate from the target position. In serious cases, safety accidents may occur due to improper placement of the cargo. Summary of the Invention

[0004] In view of this, an embodiment of the present invention provides a cargo unloading method, which aims to solve the problem in the prior art that the posture of the pallet changes, resulting in improper placement of the final cargo and causing safety accidents.

[0005] According to a first aspect, an embodiment of the present invention provides a cargo unloading method, comprising:

[0006] Obtain the cargo unloading position corresponding to the target cargo on the pallet of the target forklift;

[0007] According to the cargo unloading position, determine the pallet posture adjustment position corresponding to the target forklift;

[0008] When the target forklift drives to the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain the target posture corresponding to the pallet;

[0009] Based on the relationship between the target posture, the pallet posture adjustment position and the cargo unloading position, the target path from the pallet posture adjustment position to the cargo unloading position is planned;

[0010] Based on the target path, the vehicle moves from the pallet posture adjustment position to the cargo unloading position and unloads the target cargo.

[0011] The cargo unloading method provided by an embodiment of the present invention obtains the cargo unloading position corresponding to the target cargo on the pallet of the target forklift, and then determines the pallet posture adjustment position corresponding to the target forklift based on the cargo unloading position, thereby ensuring the accuracy of the determined pallet posture adjustment position corresponding to the target forklift. When the target forklift travels to the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain the target posture corresponding to the pallet, thereby achieving posture compensation for the pallet posture deviation generated by the target forklift from the completion of loading the cargo to the travel to the pallet posture adjustment position, thereby ensuring the accuracy of the obtained target posture corresponding to the pallet. Then, based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position, the target path from the pallet posture adjustment position to the cargo unloading position is planned, thereby ensuring the accuracy of the planned target path. Based on the target path, the target cargo is unloaded from the pallet posture adjustment position, thereby ensuring the accuracy of the position of the unloaded target cargo. This method compensates the target forklift's pallet for posture adjustment when the target forklift reaches the pallet's posture adjustment position—that is, before the target forklift reaches the cargo unloading location. This ensures the accuracy of the target forklift's pallet's posture relative to the target forklift. This addresses the issue of the pallet shifting relative to the target forklift during cargo transportation due to bumps and other factors, ultimately leading to improper cargo placement and potentially causing safety accidents.

[0012] In combination with the first aspect, in a first embodiment of the first aspect, when the target forklift travels to the pallet posture adjustment position, adjusting the posture of the pallet corresponding to the target forklift to obtain a target posture corresponding to the pallet includes:

[0013] When the target forklift reaches the pallet posture adjustment position, the current posture of the pallet corresponding to the target forklift is obtained;

[0014] Obtain the preset posture of the pallet in the target forklift coordinate system when the target forklift drives to the pallet posture adjustment position;

[0015] According to the relationship between the current posture and the preset posture, the current posture is adjusted to obtain the target posture.

[0016] The cargo unloading method provided by an embodiment of the present invention obtains the current posture of the pallet corresponding to the target forklift when the target forklift travels to the pallet posture adjustment position, and then obtains the preset posture of the pallet in the target forklift coordinate system when the target forklift travels to the pallet posture adjustment position; according to the relationship between the current posture and the preset posture, the current posture is adjusted to obtain the target posture, thereby ensuring the accuracy of the obtained target posture.

[0017] In combination with the first embodiment of the first aspect, in the second embodiment of the first aspect, when the target forklift travels to the pallet posture adjustment position, obtaining the current posture of the pallet corresponding to the target forklift includes:

[0018] When the target forklift drives to the pallet posture adjustment position, the initial point cloud data corresponding to the pallet is obtained;

[0019] The initial point cloud data is analyzed to determine the current position of the pallet corresponding to the target forklift.

[0020] The cargo unloading method provided by an embodiment of the present invention obtains initial point cloud data corresponding to the pallet when the target forklift travels to the pallet posture adjustment position; analyzes the initial point cloud data to determine the current posture of the pallet corresponding to the target forklift, thereby ensuring the accuracy of the current posture of the pallet corresponding to the target forklift.

[0021] In combination with the second embodiment of the first aspect, in the third embodiment of the first aspect, analyzing the initial point cloud data to determine the current posture of the pallet corresponding to the target forklift includes:

[0022] Construct an initial point cloud model corresponding to the pallet based on the initial point cloud data;

[0023] Get the actual point cloud model corresponding to the pallet;

[0024] Match the initial point cloud model with the actual point cloud model;

[0025] According to the matching results, redundant point cloud data other than the point cloud data corresponding to the pallet is deleted from the initial point cloud data to obtain the target point cloud data corresponding to the pallet;

[0026] Based on the target point cloud data, the current position of the pallet corresponding to the target forklift is determined.

[0027] The cargo unloading method provided by the embodiment of the present invention constructs an initial point cloud model corresponding to the pallet based on the initial point cloud data, thereby ensuring the accuracy of the constructed initial point cloud model. The actual point cloud model corresponding to the pallet is obtained; the initial point cloud model is matched with the actual point cloud model;

[0028] Based on the matching results, redundant point cloud data other than the pallet's point cloud data is deleted from the initial point cloud data to obtain the target point cloud data corresponding to the pallet, ensuring the accuracy of the obtained target point cloud data. Then, based on the target point cloud data, the current position of the pallet corresponding to the target forklift is determined, ensuring the accuracy of the current position of the pallet corresponding to the target forklift, avoiding the influence of redundant point cloud data on the target point cloud data, and thus avoiding the influence of multiple point cloud data on the current position of the pallet.

[0029] In combination with the first embodiment of the first aspect, in a fourth embodiment of the first aspect, adjusting the current posture according to the relationship between the current posture and the preset posture to obtain the target posture includes:

[0030] Perform coordinate system transformation on the current position to convert it into the real position of the pallet in the target forklift coordinates;

[0031] Calculate the pose transformation matrix between the actual pose and the preset pose;

[0032] According to the pose transformation matrix, the actual pose is adjusted to obtain the target pose.

[0033] The cargo unloading method provided by an embodiment of the present invention performs a coordinate system conversion on the current posture, converting it into the real posture of the pallet in the target forklift coordinates, ensuring that the real posture obtained by the conversion is in the target forklift coordinates, and further ensuring that the real posture corresponding to the converted pallet and the preset posture are in the same coordinate system, which can ensure the accuracy of the comparison between the real posture and the preset posture. Then, the posture conversion matrix between the real posture and the preset posture is calculated, ensuring the accuracy of the calculated posture conversion matrix. According to the posture conversion matrix, the real posture is adjusted to obtain the target posture, ensuring the accuracy of the obtained target posture.

[0034] In combination with the first aspect, in a fifth implementation of the first aspect, determining a pallet posture adjustment position corresponding to a target forklift according to a cargo unloading position includes:

[0035] Obtain the initial planned trajectory of the target forklift to the cargo unloading location;

[0036] Determine the position on the initial planned trajectory that is a preset distance from the cargo unloading location and adjust the position of the pallet posture.

[0037] The cargo unloading method provided in an embodiment of the present invention obtains an initial planned trajectory corresponding to the target forklift traveling to the cargo unloading position, and then determines a position on the initial planned trajectory that is a preset distance from the cargo unloading position as the pallet posture adjustment position, thereby ensuring the accuracy of the determined pallet posture adjustment position.

[0038] In combination with the first aspect, in a sixth implementation of the first aspect, planning a target path from the pallet posture adjustment position to the cargo unloading position based on a relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position includes:

[0039] Determine the target forklift's stopping position based on the relationship between the target posture and the cargo unloading position;

[0040] Using the preset path planning algorithm, the target forklift is planned to take a target path from the pallet posture adjustment position to the stop position.

[0041] Correspondingly, based on the target path, the vehicle moves from the pallet posture adjustment position to the cargo unloading position and unloads the target cargo, including:

[0042] Based on the target posture, the vehicle moves from the pallet posture adjustment position to the stop position according to the target path, and unloads the target cargo to the cargo unloading position at the stop position.

[0043] The cargo unloading method provided by an embodiment of the present invention determines the stopping position of the target forklift based on the relationship between the target posture and the cargo unloading position, thereby ensuring the accuracy of the stopping position corresponding to the determined target forklift. Then, a preset path planning algorithm is used to plan the target path of the target forklift from the pallet posture adjustment position to the stopping position, thereby ensuring the accuracy of the determined target path. Then, based on the target posture, the target path is followed from the pallet posture adjustment position to the stopping position, and the target cargo is unloaded from the stopping position to the cargo unloading position, thereby ensuring that the target cargo can be accurately unloaded to the cargo unloading position, ensuring the accuracy of unloading the target cargo, and avoiding the problem of safety accidents caused by improper placement of the target cargo.

[0044] According to a second aspect, an embodiment of the present invention further provides a cargo unloading device, comprising:

[0045] An acquisition module, configured to acquire a cargo unloading position corresponding to a target cargo on a pallet of a target forklift;

[0046] A determination module is used to determine the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position;

[0047] An adjustment module is used to adjust the posture of the pallet corresponding to the target forklift when the target forklift drives to the pallet posture adjustment position to obtain a target posture corresponding to the pallet;

[0048] A planning module is used to plan a target path from the pallet posture adjustment position to the cargo unloading position based on the relationship between the target posture, the pallet posture adjustment position and the cargo unloading position;

[0049] The unloading module is used to drive from the pallet posture adjustment position to the cargo unloading position based on the target path and unload the target cargo.

[0050] The cargo unloading device provided in an embodiment of the present invention obtains the cargo unloading position corresponding to the target cargo on the pallet of the target forklift, and then determines the pallet posture adjustment position corresponding to the target forklift based on the cargo unloading position, thereby ensuring the accuracy of the determined pallet posture adjustment position corresponding to the target forklift. When the target forklift travels to the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain the target posture corresponding to the pallet, thereby achieving posture compensation for the pallet posture deviation generated by the target forklift from the completion of loading the cargo to the travel to the pallet posture adjustment position, thereby ensuring the accuracy of the obtained target posture corresponding to the pallet. Then, based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position, the target path from the pallet posture adjustment position to the cargo unloading position is planned, thereby ensuring the accuracy of the planned target path. Based on the target path, the target cargo is unloaded from the pallet posture adjustment position, thereby ensuring the accuracy of the position of the unloaded target cargo. The above-mentioned device compensates the target forklift's pallet for its posture when the target forklift reaches the pallet's posture adjustment position—that is, before the target forklift reaches the cargo unloading position—to ensure the accuracy of the target forklift's pallet's posture relative to the target forklift. This solves the problem of the pallet's posture shifting relative to the target forklift during cargo transportation due to bumps and other factors, ultimately leading to improper cargo placement and potentially causing safety accidents.

[0051] According to the third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the cargo unloading method in the first aspect or any one of the embodiments of the first aspect by executing the computer instructions.

[0052] According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions, and the computer instructions are used to enable a computer to execute the cargo unloading method in the first aspect or any one embodiment of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 This is a flow chart of a cargo unloading method provided by an embodiment of the present invention;

[0055] Figure 2is a flow chart of a cargo unloading method provided by another embodiment of the present invention;

[0056] Figure 3 is a flow chart of a cargo unloading method provided by another embodiment of the present invention;

[0057] Figure 4 is a flow chart of a cargo unloading method provided by another embodiment of the present invention;

[0058] Figure 5 is a flow chart of a cargo unloading method provided by another embodiment of the present invention;

[0059] Figure 6 This is a functional module diagram of a cargo unloading device provided by an embodiment of the present invention;

[0060] Figure 7 It is a schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present invention. DETAILED DESCRIPTION

[0061] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0062] It should be noted that the method for unloading cargo provided in the embodiment of the present application may be performed by a device for unloading cargo, and the device for unloading cargo may be implemented as part or all of an electronic device through software, hardware, or a combination of software and hardware, wherein the electronic device may be a control device in a target forklift, or a terminal device or server device connected to the target forklift but independent of the target forklift, wherein the server in the embodiment of the present application may be a single server or a server cluster composed of multiple servers, and the terminal in the embodiment of the present application may be a smart phone, a personal computer, a tablet computer, a wearable device, an intelligent robot, or other intelligent hardware devices. In the following method embodiments, the execution subject is an electronic device as an example for explanation.

[0063] In one embodiment of the present application, Figure 1 As shown, a cargo unloading method is provided, which is described by taking the application of the method to electronic equipment as an example, and includes the following steps:

[0064] S11. Obtain a cargo unloading position corresponding to the target cargo on the pallet of the target forklift.

[0065] In an optional embodiment of the present application, the electronic device can receive the cargo unloading position corresponding to the target cargo on the pallet of the target forklift input by the user, and can also receive the cargo unloading position corresponding to the target cargo on the pallet of the target forklift sent by other devices.

[0066] The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the cargo unloading position corresponding to the target cargo on the pallet of the target forklift.

[0067] S12. Determine the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position.

[0068] In an optional embodiment of the present application, after obtaining the cargo unloading position, the electronic device can determine the pallet posture adjustment position corresponding to the target forklift at a preset distance from the cargo unloading position based on the cargo unloading position.

[0069] This step will be described in detail below.

[0070] S13. When the target forklift reaches the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain a target posture corresponding to the pallet.

[0071] In an optional embodiment of the present application, when the target forklift drives to the pallet posture adjustment position, the electronic device can obtain the current posture of the pallet of the target forklift, and then the electronic device can adjust the posture of the pallet corresponding to the target forklift by controlling the execution component in the target forklift to obtain the target posture corresponding to the pallet.

[0072] This step will be described in detail below.

[0073] S14. Planning a target path from the pallet posture adjustment position to the cargo unloading position based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position.

[0074] In an optional embodiment of the present application, after the electronic device adjusts the posture of the pallet corresponding to the target forklift and obtains the target posture corresponding to the pallet, the electronic device can plan the target path between the pallet posture adjustment position and the cargo unloading position taking into account the target posture corresponding to the pallet.

[0075] This step will be described in detail below.

[0076] S15. Based on the target path, the vehicle drives from the pallet posture adjustment position to the cargo unloading position and unloads the target cargo.

[0077] Specifically, after planning the target path from the pallet posture adjustment position to the cargo unloading position, the electronic device can control the target forklift to travel from the pallet posture adjustment position to the cargo unloading position, and control the target forklift to unload the target cargo.

[0078] The cargo unloading method provided by an embodiment of the present invention obtains the cargo unloading position corresponding to the target cargo on the pallet of the target forklift, and then determines the pallet posture adjustment position corresponding to the target forklift based on the cargo unloading position, thereby ensuring the accuracy of the determined pallet posture adjustment position corresponding to the target forklift. When the target forklift travels to the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain the target posture corresponding to the pallet, thereby achieving posture compensation for the pallet posture deviation generated by the target forklift from the completion of loading the cargo to the travel to the pallet posture adjustment position, thereby ensuring the accuracy of the obtained target posture corresponding to the pallet. Then, based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position, the target path from the pallet posture adjustment position to the cargo unloading position is planned, thereby ensuring the accuracy of the planned target path. Based on the target path, the target cargo is unloaded from the pallet posture adjustment position, thereby ensuring the accuracy of the position of the unloaded target cargo. This method compensates the target forklift's pallet for posture adjustment when the target forklift reaches the pallet's posture adjustment position—that is, before the target forklift reaches the cargo unloading location. This ensures the accuracy of the target forklift's pallet's posture relative to the target forklift. This addresses the issue of the pallet shifting relative to the target forklift during cargo transportation due to bumps and other factors, ultimately leading to improper cargo placement and potentially causing safety accidents.

[0079] In one embodiment of the present application, Figure 2 As shown, a cargo unloading method is provided, which is described by taking the application of the method to electronic equipment as an example, and includes the following steps:

[0080] S21. Obtain a cargo unloading position corresponding to the target cargo on the pallet of the target forklift.

[0081] For more information about this step, see Figure 1 The introduction of S11 will not be elaborated here.

[0082] S22. Determine the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position.

[0083] In an optional embodiment of the present application, the above-mentioned S21 “obtaining the cargo unloading position corresponding to the target cargo on the pallet of the target forklift” may include the following steps:

[0084] S221: Obtain an initial planned trajectory corresponding to the target forklift driving to the cargo unloading location.

[0085] In an optional embodiment of the present application, the electronic device can receive the initial planned trajectory from the cargo loading position to the cargo unloading position after the target forklift loads the target cargo input by the user, and can also receive the initial planned trajectory from the cargo loading position to the cargo unloading position after the target forklift loads the target cargo sent by other devices. It can also use a path planning algorithm to plan the initial planned trajectory from the cargo loading position to the cargo unloading position based on the cargo loading position and the cargo unloading position.

[0086] Among them, the path planning algorithm can be a simulated annealing algorithm, an artificial potential field method, a fuzzy logic algorithm, a taboo search algorithm, etc. The embodiment of the present application does not specifically limit the path planning algorithm.

[0087] The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the initial planned trajectory corresponding to the target forklift traveling to the cargo unloading location.

[0088] S222: Determine a position on the initial planned trajectory that is a preset distance from the cargo unloading position, and use it as the pallet posture adjustment position.

[0089] Specifically, after obtaining the initial planned trajectory corresponding to the target forklift traveling to the cargo unloading position, the electronic device can determine a position on the initial planned trajectory that is a preset distance from the cargo unloading position as the pallet posture adjustment position.

[0090] The preset distance may be 100 meters, 50 meters, or 35 meters. The embodiment of the present application does not specifically limit the preset distance.

[0091] S23. When the target forklift reaches the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain a target posture corresponding to the pallet.

[0092] For more information about this step, see Figure 1 The introduction of S13 will not be elaborated here.

[0093] S24. Planning a target path from the pallet posture adjustment position to the cargo unloading position based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position.

[0094] For more information about this step, see Figure 1 The introduction of S14 will not be elaborated here.

[0095] S25. Based on the target path, the vehicle moves from the pallet posture adjustment position to the cargo unloading position to unload the target cargo.

[0096] For more information about this step, see Figure 1 The introduction of S15 will not be elaborated here.

[0097] The cargo unloading method provided in an embodiment of the present invention obtains an initial planned trajectory corresponding to the target forklift traveling to the cargo unloading position, and then determines a position on the initial planned trajectory that is a preset distance from the cargo unloading position as the pallet posture adjustment position, thereby ensuring the accuracy of the determined pallet posture adjustment position.

[0098] In one embodiment of the present application, Figure 3 As shown, a cargo unloading method is provided, which is described by taking the application of the method to electronic equipment as an example, and includes the following steps:

[0099] S31. Obtain a cargo unloading position corresponding to the target cargo on the pallet of the target forklift.

[0100] For more information about this step, see Figure 2 The introduction of S21 will not be elaborated here.

[0101] S32. Determine the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position.

[0102] For more information about this step, see Figure 2 The introduction of S22 will not be elaborated here.

[0103] S33. When the target forklift reaches the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain a target posture corresponding to the pallet.

[0104] In an optional embodiment of the present application, the above-mentioned S33 “when the target forklift travels to the pallet posture adjustment position, adjusting the posture of the pallet corresponding to the target forklift to obtain a target posture corresponding to the pallet” may include the following steps:

[0105] S331. When the target forklift reaches the pallet posture adjustment position, the current posture of the pallet corresponding to the target forklift is obtained.

[0106] In an optional embodiment of the present application, when the target forklift drives to the pallet posture adjustment position, the electronic device can obtain an image of the pallet corresponding to the target forklift based on the shooting device, and then recognize the image to determine the current posture of the pallet corresponding to the target forklift.

[0107] In an optional embodiment of the present application, S331 “when the target forklift travels to the pallet posture adjustment position, obtaining the current posture of the pallet corresponding to the target forklift” may include the following steps:

[0108] (1) When the target forklift drives to the pallet posture adjustment position, the initial point cloud data corresponding to the pallet is obtained.

[0109] (2) Analyze the initial point cloud data to determine the current position of the pallet corresponding to the target forklift.

[0110] In an optional embodiment of the present application, when the target forklift drives to the pallet posture adjustment position, the electronic device can obtain the initial point cloud data corresponding to the pallet sent by the laser radar based on the connection with the laser radar.

[0111] Then, the electronic device performs modeling processing on the initial point cloud data and determines the current position of the pallet corresponding to the target forklift based on the modeled model.

[0112] In an optional embodiment of the present application, step (2) “analyzing the initial point cloud data to determine the current position of the pallet corresponding to the target forklift” may include the following steps:

[0113] (21) constructing an initial point cloud model corresponding to the pallet based on the initial point cloud data;

[0114] (22) Obtaining the actual point cloud model corresponding to the pallet;

[0115] (23) Matching the initial point cloud model with the actual point cloud model;

[0116] (24) According to the matching results, the redundant point cloud data except the point cloud data corresponding to the pallet is deleted from the initial point cloud data to obtain the target point cloud data corresponding to the pallet;

[0117] (25) Based on the target point cloud data, determine the current position of the pallet corresponding to the target forklift.

[0118] Specifically, when the target forklift drives to the pallet posture adjustment position, the electronic device can obtain the initial point cloud data corresponding to the pallet sent by the laser radar based on the connection between the electronic device and the laser radar, and then the electronic device can construct an initial point cloud model corresponding to the pallet based on the initial point cloud data.

[0119] Then, the electronic device can receive the actual point cloud model corresponding to the pallet input by the user, and can also receive the actual point cloud model corresponding to the pallet sent by other devices.

[0120] After receiving the actual point cloud model corresponding to the pallet, the electronic device can match the initial point cloud model with the actual point cloud model.

[0121] In an optional embodiment of the present application, the electronic device may obtain key point cloud data from the initial point cloud model and the actual point cloud model. The key point cloud data may be point cloud data corresponding to the four corners of the tray in the initial point cloud model and the actual point cloud model, or other point cloud data. The electronic device then performs position matching between the initial point cloud model and the actual point cloud model based on the key point cloud data in the initial point cloud model and the actual point cloud model.

[0122] The electronic device determines redundant point cloud data in the initial point cloud data based on the matching result between the initial point cloud model and the actual point cloud model, deletes the redundant point cloud data except for the point cloud data corresponding to the pallet from the initial point cloud data, and obtains target point cloud data corresponding to the pallet. The redundant point cloud data refers to the point cloud data other than the point cloud data corresponding to the pallet.

[0123] Then, the electronic device models the target point cloud data again to obtain a target point cloud model, and determines the current position of the pallet corresponding to the target forklift based on the target point cloud model.

[0124] S332: Obtain a preset posture of the pallet in the target forklift coordinate system when the target forklift drives to the pallet posture adjustment position.

[0125] Specifically, after the electronic device obtains the current posture of the pallet when the target forklift drives to the pallet posture adjustment position, the electronic device can receive the preset posture of the pallet in the target forklift coordinate system input by the user, or receive the preset posture of the pallet in the target forklift coordinate system sent by other devices, and can also determine the preset posture of the pallet in the target forklift coordinate system based on previous planning.

[0126] The embodiment of the present application does not specifically limit the manner in which the electronic device obtains the preset posture of the pallet in the target forklift coordinate system when the target forklift travels to the pallet posture adjustment position.

[0127] S333: Adjust the current posture according to the relationship between the current posture and the preset posture to obtain the target posture.

[0128] In an optional embodiment of the present application, S333 “adjusting the current posture according to the relationship between the current posture and the preset posture to obtain the target posture” may include the following steps:

[0129] (1) Perform coordinate system transformation on the current position to convert it into the real position of the pallet in the target forklift coordinates;

[0130] (2) Calculate the pose transformation matrix between the actual pose and the preset pose;

[0131] (3) According to the pose transformation matrix, adjust the actual pose to obtain the target pose.

[0132] Specifically, after the electronic device obtains the preset posture of the pallet in the target forklift coordinate system, in order to ensure that the current posture and the preset posture are in the same coordinate system and to facilitate the adjustment of the pallet's posture, the electronic device can perform a coordinate system conversion on the current posture and convert it into the pallet's true posture in the target forklift coordinate system.

[0133] The electronic device then compares the actual position of the pallet with the preset position and calculates the position transformation matrix between the actual position and the preset position. Based on the position transformation matrix, the electronic device adjusts the actual position to obtain the target position.

[0134] S34. Planning a target path from the pallet posture adjustment position to the cargo unloading position based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position.

[0135] For more information about this step, see Figure 2 The introduction of S24 will not be elaborated here.

[0136] S35. Based on the target path, the vehicle drives from the pallet posture adjustment position to the cargo unloading position and unloads the target cargo.

[0137] For more information about this step, see Figure 2 The introduction of S25 will not be elaborated here.

[0138] The cargo unloading method provided by an embodiment of the present invention obtains the initial point cloud data corresponding to the pallet when the target forklift travels to the position for adjusting the posture of the pallet; constructs the initial point cloud model corresponding to the pallet based on the initial point cloud data, thereby ensuring the accuracy of the constructed initial point cloud model. The actual point cloud model corresponding to the pallet is obtained; the initial point cloud model is matched with the actual point cloud model; based on the matching result, the redundant point cloud data other than the point cloud data corresponding to the pallet in the initial point cloud data is deleted to obtain the target point cloud data corresponding to the pallet, thereby ensuring the accuracy of the obtained target point cloud data corresponding to the pallet. Then, based on the target point cloud data, the current posture of the pallet corresponding to the target forklift is determined, thereby ensuring the accuracy of the current posture of the pallet corresponding to the target forklift, avoiding the influence of redundant point cloud data on the target point cloud data, and thus avoiding the influence of multi-point cloud data on the current posture of the pallet. Then, the preset posture of the pallet in the target forklift coordinate system is obtained when the target forklift drives to the pallet posture adjustment position; the current posture is converted to the pallet's true posture in the target forklift coordinate system, ensuring that the converted true posture is in the target forklift coordinate system, and further ensuring that the converted true posture of the pallet corresponding to the preset posture is in the same coordinate system, which can ensure the accuracy of the comparison between the true posture and the preset posture. Then, the posture transformation matrix between the true posture and the preset posture is calculated, ensuring the accuracy of the calculated posture transformation matrix. According to the posture transformation matrix, the true posture is adjusted to obtain the target posture, ensuring the accuracy of the obtained target posture.

[0139] In one embodiment of the present application, Figure 4 As shown, a cargo unloading method is provided, which is described by taking the application of the method to electronic equipment as an example, and includes the following steps:

[0140] S41 : Obtain a cargo unloading position corresponding to the target cargo on the pallet of the target forklift.

[0141] For more information about this step, see Figure 3 The introduction of S31 will not be repeated here.

[0142] S42. Determine the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position.

[0143] For more information about this step, see Figure 3 The introduction of S32 will not be repeated here.

[0144] S43. When the target forklift reaches the pallet posture adjustment position, the posture of the pallet corresponding to the target forklift is adjusted to obtain a target posture corresponding to the pallet.

[0145] For more information about this step, see Figure 3 The introduction of S33 will not be elaborated here.

[0146] S44. Planning a target path from the pallet posture adjustment position to the cargo unloading position based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position.

[0147] In an optional embodiment of the present application, the above-mentioned S44 "planning a target path from the pallet posture adjustment position to the cargo unloading position based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position" may include the following steps:

[0148] S441. Determine the stopping position of the target forklift according to the relationship between the target posture and the cargo unloading position.

[0149] Specifically, the electronic device may determine the stopping position of the target forklift according to the relationship between the target posture and the cargo unloading position.

[0150] For example, the electronic device can determine where the target forklift should stop based on the relationship between the target posture and the cargo unloading position, so as to ensure that the target cargo is unloaded to the cargo unloading position while the target posture of the pallet remains unchanged, thereby determining the stopping position of the target forklift.

[0151] S442. Plan a target path for the target forklift from the pallet posture adjustment position to the stop position using a preset path planning algorithm.

[0152] Specifically, after determining the stop position of the target forklift, the electronic device may use a preset path planning algorithm to plan a target path for the target forklift from the pallet posture adjustment position to the stop position.

[0153] Among them, the path planning algorithm can be a simulated annealing algorithm, an artificial potential field method, a fuzzy logic algorithm, a taboo search algorithm, etc. The embodiment of the present application does not specifically limit the path planning algorithm.

[0154] S45. Based on the target path, the vehicle drives from the pallet posture adjustment position to the cargo unloading position to unload the target cargo.

[0155] In an optional embodiment of the present application, the above-mentioned S45 “driving from the pallet posture adjustment position to the cargo unloading position based on the target path and unloading the target cargo” may include the following steps:

[0156] S451. Based on the target posture, drive from the pallet posture adjustment position to the stop position according to the target path, and unload the target cargo to the cargo unloading position at the stop position.

[0157] Specifically, after planning the target path of the target forklift from the pallet posture adjustment position to the stop position, the electronic device can control the target forklift to travel from the pallet posture adjustment position to the stop position according to the target path while keeping the target posture of the pallet relative to the target forklift unchanged, and unload the target cargo to the cargo unloading position at the stop position.

[0158] The cargo unloading method provided by an embodiment of the present invention determines the stopping position of the target forklift based on the relationship between the target posture and the cargo unloading position, thereby ensuring the accuracy of the stopping position corresponding to the determined target forklift. Then, a preset path planning algorithm is used to plan the target path of the target forklift from the pallet posture adjustment position to the stopping position, thereby ensuring the accuracy of the determined target path. Then, based on the target posture, the target path is followed from the pallet posture adjustment position to the stopping position, and the target cargo is unloaded from the stopping position to the cargo unloading position, thereby ensuring that the target cargo can be accurately unloaded to the cargo unloading position, ensuring the accuracy of unloading the target cargo, and avoiding the problem of safety accidents caused by improper placement of the target cargo.

[0159] In order to better illustrate the cargo unloading method provided in the embodiment of the present application, the following describes how the target forklift unloads the target cargo to the cargo unloading position through a specific embodiment. Figure 5As shown, the electronic device may include an operation instruction issuing module, a decision-making main control module, a pallet posture detection module, a point cloud matching module, a posture calculation module, a forklift positioning module, a path planning module, and a chassis control module. A target forklift performs cargo handling operations within a park, moving the target cargo from point A within the park to point B within the park. A worker operates the operation instruction platform to send handling instructions to the target forklift's corresponding electronic device, which includes the cargo loading position and loading posture of the target cargo, as well as the cargo unloading position and unloading posture of the target cargo. After receiving the operation instruction information, the target forklift's corresponding electronic device first proceeds to the cargo loading position to insert and remove the target cargo. Due to errors in the target forklift's overall system, the pallet's posture may deviate during loading. After loading the pallet, the forklift travels from its current point to point B in the park (i.e., the cargo unloading position). Along the way, road bumps, acceleration and deceleration, and turns may cause the pallet's relative posture to change on the target forklift. Due to the pallet's posture deviation caused by loading and transportation, it is difficult to guarantee the accuracy of unloading by directly unloading the cargo. Therefore, before arriving at unloading point B, the target forklift first reaches the pallet posture adjustment position. After the target forklift reaches the pallet posture adjustment position, the operation instruction issuance module in the electronic device issues a pallet posture adjustment instruction. The decision-making main control module included in the electronic device can then obtain the current status of the target forklift. After the decision-making main control module determines that the target forklift has reached the pallet posture adjustment position, it issues a pallet posture detection instruction to the pallet posture detection module. The pallet posture detection module obtains point cloud data of the pallet on the target forklift through sensors and sends this point cloud data to the point cloud matching module. The point cloud data is matched according to the preset pallet posture. At the same time, the detection module continues to send real-time point clouds until the pallet features are successfully matched. The posture calculation module will solve the relative posture of the pallet on the target forklift relative to the forklift, and convert it to the global coordinate system to generate a posture transformation matrix relative to the unloading point B, which is used to represent the impact of the current pallet's relative posture on the unloading point; the planning module adds a transformation matrix for posture compensation on the basis of the original unloading point B, and calculates the new unloading point B'. This point compensates for the various errors before unloading on the basis of the original unloading point B, so that the position and attitude angle are more consistent with the current pallet state, and obtains the current target forklift posture from the positioning module, and plans a driving path with the current position as the starting point and the unloading point B' as the end point; the control module drives to point B' along the above path to complete the unloading operation of the goods or pallet, thereby improving the unloading accuracy.

[0160] It should be understood that although Figure 1-4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1-4 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0161] like Figure 6 As shown, this embodiment provides a cargo unloading device, comprising:

[0162] An acquisition module 51 is configured to acquire a cargo unloading position corresponding to a target cargo on a pallet of a target forklift;

[0163] A determination module 52 is used to determine the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position;

[0164] An adjustment module 53 is configured to adjust the posture of the pallet corresponding to the target forklift when the target forklift reaches the pallet posture adjustment position to obtain a target posture corresponding to the pallet;

[0165] A planning module 54 is configured to plan a target path from the pallet posture adjustment position to the cargo unloading position based on the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position;

[0166] The unloading module 55 is used to drive from the pallet posture adjustment position to the cargo unloading position based on the target path to unload the target cargo.

[0167] In one embodiment of the present application, the above-mentioned determination module 52 is specifically used to obtain the initial planned trajectory corresponding to the target forklift driving to the cargo unloading position; determine the position on the initial planned trajectory that is a preset distance away from the cargo unloading position as the pallet posture adjustment position.

[0168] In one embodiment of the present application, the above-mentioned adjustment module 53 is specifically used to obtain the current posture of the pallet corresponding to the target forklift when the target forklift travels to the pallet posture adjustment position; obtain the preset posture of the pallet in the target forklift coordinate system when the target forklift travels to the pallet posture adjustment position; adjust the current posture according to the relationship between the current posture and the preset posture to obtain the target posture.

[0169] In one embodiment of the present application, the adjustment module 53 is specifically configured to obtain initial point cloud data corresponding to the pallet when the target forklift travels to the pallet posture adjustment position; analyze the initial point cloud data to determine the current posture of the pallet corresponding to the target forklift.

[0170] In one embodiment of the present application, the above-mentioned adjustment module 53 is specifically used to construct an initial point cloud model corresponding to the pallet based on the initial point cloud data; obtain the actual point cloud model corresponding to the pallet; match the initial point cloud model with the actual point cloud model; according to the matching result, delete the redundant point cloud data in the initial point cloud data except the point cloud data corresponding to the pallet, and obtain the target point cloud data corresponding to the pallet; based on the target point cloud data, determine the current posture of the pallet corresponding to the target forklift.

[0171] In one embodiment of the present application, the above-mentioned adjustment module 53 is specifically used to perform coordinate system conversion on the current posture, converting it into the real posture of the pallet under the target forklift coordinates; calculating the posture conversion matrix between the real posture and the preset posture; and adjusting the real posture according to the posture conversion matrix to obtain the target posture.

[0172] In one embodiment of the present application, the planning module 54 is specifically configured to determine a target forklift stopping position based on a relationship between the target posture and the cargo unloading position; and plan a target path for the target forklift from the pallet posture adjustment position to the stopping position using a preset path planning algorithm.

[0173] Correspondingly, the unloading module 55 is specifically configured to drive from the pallet posture adjustment position to the stop position according to the target path based on the target posture, and unload the target cargo to the cargo unloading position at the stop position.

[0174] The specific limitations and beneficial effects of the cargo unloading device can be found in the above-mentioned limitations on the cargo unloading method and will not be further elaborated here. Each module in the cargo unloading device may be implemented in whole or in part via software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor within an electronic device in hardware form, or may be stored in a memory within the electronic device in software form, allowing the processor to invoke and execute the corresponding operations of each module.

[0175] An embodiment of the present invention further provides an electronic device having the above Figure 6 The cargo unloading device shown.

[0176] like Figure 7 As shown, Figure 7 is a structural diagram of an electronic device provided by an optional embodiment of the present invention, such as Figure 7As shown, the electronic device may include: at least one processor 61, such as a CPU (Central Processing Unit), at least one communication interface 63, a memory 64, and at least one communication bus 62. The communication bus 62 is used to realize the connection and communication between these components. The communication interface 63 may include a display screen (Display), a keyboard (Keyboard), and the optional communication interface 63 may also include a standard wired interface and a wireless interface. The memory 64 may be a high-speed RAM memory (Random Access Memory, volatile random access memory) or a non-volatile memory (non-volatile memory), such as at least one disk memory. The memory 64 may optionally be at least one storage device located away from the aforementioned processor 61. The processor 61 may be combined with Figure 6 In the described apparatus, the memory 64 stores an application program, and the processor 61 calls the program code stored in the memory 64 to execute any of the above method steps.

[0177] The communication bus 62 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The communication bus 62 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0178] Among them, the memory 64 may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviated: RAM); the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory), hard disk drive (English: hard disk drive, abbreviated: HDD) or solid-state drive (English: solid-state drive, abbreviated: SSD); the memory 64 may also include a combination of the above types of memory.

[0179] The processor 61 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and a NP.

[0180] The processor 61 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0181] Optionally, the memory 64 is also used to store program instructions. The processor 61 can call the program instructions to implement the application Figures 1 to 4 The cargo unloading method shown in the embodiment.

[0182] An embodiment of the present invention further provides a non-transitory computer storage medium storing computer-executable instructions capable of executing the cargo unloading method of any of the above-described method embodiments. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); the storage medium may also include a combination of the above-described types of memory.

[0183] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A cargo unloading method, characterized in that: include: Obtain the cargo unloading position corresponding to the target cargo on the pallet of the target forklift; Determining a pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position; When the target forklift drives to the pallet posture adjustment position, obtaining initial point cloud data corresponding to the pallet; Constructing an initial point cloud model corresponding to the pallet based on the initial point cloud data; Obtaining an actual point cloud model corresponding to the pallet; Obtain the key point cloud numbers in the initial point cloud model and the actual point cloud model; According to the key point cloud data in the initial point cloud model and the actual point cloud model, the initial point cloud model and the actual point cloud model are matched in position; According to the matching result, redundant point cloud data other than the point cloud data corresponding to the pallet is deleted from the initial point cloud data to obtain target point cloud data corresponding to the pallet; The target point cloud data is modeled again to obtain a target point cloud model. Based on the target point cloud model, the current position of the pallet corresponding to the target forklift is determined; Obtaining a preset posture of the pallet in the target forklift coordinate system when the target forklift travels to the pallet posture adjustment position; Adjusting the current posture according to the relationship between the current posture and the preset posture to obtain a target posture; Planning a target path from the pallet posture adjustment position to the cargo unloading position according to the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position; Based on the target path, the vehicle travels from the pallet posture adjustment position to the cargo unloading position to unload the target cargo.

2. The method according to claim 1, characterized in that The adjusting the current posture according to the relationship between the current posture and the preset posture to obtain the target posture includes: Performing coordinate system conversion on the current posture to convert it into the real posture of the pallet in the target forklift coordinates; Calculating a posture conversion matrix between the actual posture and the preset posture; According to the pose conversion matrix, the actual pose is adjusted to obtain the target pose.

3. The method according to claim 1, characterized in that The step of determining the pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position includes: Obtaining an initial planned trajectory corresponding to the target forklift traveling to the cargo unloading location; A position on the initial planning trajectory that is a preset distance from the cargo unloading position is determined as the pallet posture adjustment position.

4. The method according to claim 1, wherein The planning of a target path from the pallet posture adjustment position to the cargo unloading position according to the relationship between the target posture, the pallet posture adjustment position, and the cargo unloading position includes: determining a stopping position of the target forklift according to a relationship between the target posture and the cargo unloading position; Using a preset path planning algorithm, planning the target path of the target forklift from the pallet posture adjustment position to the stop position; Correspondingly, based on the target path, driving from the pallet posture adjustment position to the cargo unloading position to unload the target cargo includes: Based on the target posture, the vehicle travels from the pallet posture adjustment position to the stop position according to the target path, and unloads the target cargo to the cargo unloading position at the stop position.

5. A cargo unloading device, characterized in that: include: An acquisition module, configured to acquire a cargo unloading position corresponding to a target cargo on a pallet of a target forklift; A determination module, configured to determine a pallet posture adjustment position corresponding to the target forklift according to the cargo unloading position; An adjustment module is configured to, when the target forklift travels to the pallet posture adjustment position, obtain initial point cloud data corresponding to the pallet; construct an initial point cloud model corresponding to the pallet based on the initial point cloud data; obtain an actual point cloud model corresponding to the pallet; and obtain key point cloud numbers in the initial point cloud model and the actual point cloud model; Based on the key point cloud data in the initial point cloud model and the actual point cloud model, position matching is performed on the initial point cloud model and the actual point cloud model; based on the matching result, redundant point cloud data other than the point cloud data corresponding to the pallet in the initial point cloud data is deleted to obtain the target point cloud data corresponding to the pallet; the target point cloud data is modeled again to obtain a target point cloud model, and the current posture of the pallet corresponding to the target forklift is determined based on the target point cloud model; when the target forklift travels to the pallet posture adjustment position, the preset posture of the pallet in the target forklift coordinate system is obtained; based on the relationship between the current posture and the preset posture, the current posture is adjusted to obtain the target posture; a planning module, configured to plan a target path from the pallet posture adjustment position to the cargo unloading position based on a relationship among the target posture, the pallet posture adjustment position, and the cargo unloading position; An unloading module is used to drive from the pallet posture adjustment position to the cargo unloading position based on the target path to unload the target cargo.

6. An electronic device, characterized in that: The invention comprises a memory and a processor, wherein the memory stores computer instructions, and the processor executes the cargo unloading method according to any one of claims 1 to 4 by executing the computer instructions.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the cargo unloading method according to any one of claims 1 to 4.

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