Unmanned forklift storage and retrieval method, device, medium and unmanned forklift

Abstract

The present application relates to an unmanned forklift storage and retrieval method, device, medium, and unmanned forklift. The method comprises: receiving a first work instruction, and according to the first work instruction, controlling the unmanned forklift to remove a target part from a first target workstation specified in the first work instruction; controlling the unmanned forklift to travel to a positioning point of a target machine to deliver the target part to the target machine, and controlling the center of the target part to align with a sensing camera configured for the unmanned forklift; controlling the fork of the unmanned forklift to rise to a suspension positioning point to mount the target part on the target machine for coating; and controlling the unmanned forklift to transport the coated target part back to a second target workstation specified in the first work instruction; wherein the center of the coated target part is a preset shape.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned forklifts, and in particular to an unmanned forklift cargo storage and retrieval method, device, medium, and unmanned forklift. Background Art

[0002] In related technologies, forklift drivers can control the operation of traditional forklifts to achieve cargo stacking. In some cases, some cargo needs to be placed too high, resulting in the problem of cargo falling due to shaking of traditional forklifts during stacking. High-precision stacking of cargo cannot be ensured, causing semiconductor coating process products to easily fall from the support frame, reducing the operating efficiency of the forklift. Summary of the Invention

[0003] Based on this, it is necessary to provide an unmanned forklift storage and retrieval method, device, medium and unmanned forklift that can solve the above technical problems and solve the problem of not being able to perform high-precision stacking of semiconductor coating process products.

[0004] A method for storing and retrieving goods by an unmanned forklift, comprising the following steps:

[0005] receiving a first work instruction, and controlling an unmanned forklift to remove a target part from a first target workbench specified by the first work instruction according to the first work instruction;

[0006] Controlling the unmanned forklift to drive to the target machine's positioning point to deliver the target part to the target machine, and controlling the center of the target part to align with the sensing camera configured for the unmanned forklift; the positioning point of the target machine is used to instruct the unmanned forklift to drive into the target machine;

[0007] Control the fork of the unmanned forklift to rise to the suspension positioning point so that the target part can be mounted on the target machine;

[0008] The unmanned forklift is controlled to transport the target part after the coating process back to the second target workbench specified by the first work instruction; wherein the center of the target part after the coating process is a preset shape.

[0009] An unmanned forklift cargo storage and retrieval device, comprising:

[0010] A receiving module, configured to receive a first work instruction;

[0011] A first control module is used to control the unmanned forklift to remove the target part from the first target workbench specified by the first work instruction according to the first work instruction;

[0012] A second control module is configured to control the unmanned forklift to drive to a positioning point of a target machine to deliver the target part to the target machine, and to align the center of the target part with a sensing camera configured for the unmanned forklift; the positioning point of the target machine is used to instruct the unmanned forklift to drive into the target machine;

[0013] a third control module, configured to control the fork of the unmanned forklift to rise to a suspension positioning point so as to mount the target part on the target machine;

[0014] The fourth control module is used to control the unmanned forklift to transport the target part that has been coated back to the second target workbench specified by the first work instruction; wherein the center of the target part that has been coated is a preset shape.

[0015] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the above-mentioned unmanned forklift cargo storage and retrieval method.

[0016] An unmanned forklift comprises a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the unmanned forklift cargo storage and retrieval method are implemented.

[0017] The above-mentioned unmanned forklift storage and retrieval method, device, medium and unmanned forklift control the unmanned forklift to remove the target part from the designated workbench, and then control the unmanned forklift to drive to the positioning point of the target machine. The positioning point of the target machine is used to instruct the unmanned forklift to drive into the target machine to deliver the target part to the target machine. The fork of the unmanned forklift is controlled to rise to the hanging positioning point so that the target part can be mounted on the target machine for coating. Finally, the unmanned forklift is controlled to transport the coated target part back to the second target workbench. The positioning point of the target machine can ensure the operating posture of the unmanned forklift when driving into the target machine. The hanging positioning point can ensure that the target part is accurately delivered into the cavity of the workstation. The center of the target part can be aligned with the sensing camera so that the center of the target part after coating is a preset shape, unifying the shape of the center of the target part, thereby facilitating the precise stacking of the target parts and improving the safety of the unmanned forklift operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a working scenario of an unmanned forklift cargo storage and retrieval method in one embodiment;

[0019] Figure 2 A schematic flow chart of a method for storing and retrieving goods using an unmanned forklift in one embodiment;

[0020] Figure 3 A schematic diagram of an unmanned forklift transporting a target part to a target machine in one embodiment;

[0021] Figure 4 A schematic diagram of the interaction between different modules during the process of an unmanned forklift removing a target part in one embodiment;

[0022] Figure 5 A schematic flow chart of a method for storing and retrieving goods using an unmanned forklift in one embodiment;

[0023] Figure 6 Schematic diagram of the flow of a method for storing and retrieving goods by an unmanned forklift in another embodiment;

[0024] Figure 7 A schematic diagram of the interaction between different modules during the position calibration of a target part in one embodiment;

[0025] Figure 8 A schematic flow chart of a method for storing and retrieving goods using an unmanned forklift in one embodiment;

[0026] Figure 9 A schematic diagram of the interaction between different modules during a coating process in one embodiment;

[0027] Figure 10 A schematic diagram of the interaction between different modules during the process of inspecting a target part that has undergone a coating treatment in one embodiment;

[0028] Figure 11 The figure is a structural block diagram of an unmanned forklift cargo storage and retrieval device in one embodiment. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0030] The unmanned forklift storage and retrieval method provided in this application can be applied to Figure 1 In the working scenario shown.

[0031] exist Figure 1 The work scene shown includes a product sorting temporary storage area, a workstation area, a coating room, a gate, and an unmanned forklift charging standby area.

[0032] The product tally temporary storage area is used to process different parts. Work order information can be entered in this area, including the part number, work order number, machine number, part quantity, part model, and other related information. After entering the work order information, the different parts can be placed in the workstation area according to the assigned work order information. The barcode on the part can be scanned and compared with the relevant information obtained from the barcode scan to determine whether the processed part is the same as the part listed on the work order.

[0033] The workstation area is used to place different parts. The unmanned forklift can take out the parts that need to be processed from the workstation area, and can also put the processed parts back to the workstation area.

[0034] The coating room is used to coat different parts. There are multiple machines in the coating room. Unmanned forklifts can transport the parts that need to be processed from the workstation area to the corresponding machines, and the machines will complete the coating process of the parts.

[0035] The gate is used to separate the coating room from other work areas. When the unmanned forklift takes out the parts that need to be processed from the workstation area, the gate opens so that the unmanned forklift can enter the coating room. After the parts have completed the coating process in the coating room, the unmanned forklift transports the parts back to the workstation area. When the unmanned forklift enters the workstation area, the gate closes.

[0036] When the unmanned forklift is not working, it is usually parked in the unmanned forklift charging standby area for charging. When the unmanned forklift receives an operation task, it will start from the unmanned forklift charging standby area to work, or when the unmanned forklift completes the operation task, it will return to the unmanned forklift charging standby area to charge and wait for the next assigned operation task.

[0037] The following describes in detail the implementation details of the technical solutions of the embodiments of the present application.

[0038] In one embodiment, Figure 2 As shown, a method for storing and retrieving goods by an unmanned forklift is provided, which is applied to Figure 1 Taking the working environment in the example as an example, the unmanned forklift storage and retrieval method may include the following steps:

[0039] Step S201: receiving a first work instruction, and controlling an unmanned forklift to take a target part from a first target workbench specified by the first work instruction according to the first work instruction.

[0040] Here, the first work instruction is used to control the unmanned forklift to store the target part. The first work instruction may carry the first target workstation from which the unmanned forklift needs to remove the target part and the second target workstation from which the target part needs to be stored. In actual applications, the first work instruction can be manually triggered and generated through a relevant control interface. Specifically, when the unmanned forklift is required to access the target part, a request message can first be sent to the unmanned forklift dispatching system. The request message is used to request the unmanned forklift to perform the work task. The unmanned forklift dispatching system can determine whether the unmanned forklift can perform the work task based on the unmanned forklift's response. It is understandable that when the unmanned forklift is in an idle state, it can respond to the unmanned forklift response system. However, when the unmanned forklift is in an active state, indicating that the unmanned forklift is performing another work task, the unmanned forklift may not respond to the unmanned forklift response system. When the unmanned forklift response system receives the response from the unmanned forklift, it sends the generated first work instruction to the unmanned forklift, causing the unmanned forklift to perform the relevant work task according to the first work instruction.

[0041] After receiving the first work instruction, the unmanned forklift can obtain the location of the first target workbench, drive to the first target workbench, and take out the target part from the first target workbench, wherein the first target workbench is as follows Figure 1 One of the workstations in the workstation area shown, the first target workstation can be dedicated to placing parts that need to be coated.

[0042] In step S202 , the unmanned forklift is controlled to travel to the positioning point of the target machine to deliver the target part to the target machine, and the center of the target part is controlled to align with the sensing camera configured on the unmanned forklift.

[0043] Here, the target machine can be used to perform coating treatment on the parts. After the unmanned forklift takes out the target parts, the unmanned forklift can deliver the target parts to the target machine, and the target parts are coated by the target machine. It can be understood that when the target machine performs coating treatment on the target parts, the target parts need to be delivered to the cavity of the target machine. In this embodiment, the positioning point of the target machine can instruct the unmanned forklift to drive into the target machine, such as Figure 3 As shown, Figure 3 The schematic diagram shows an unmanned forklift transporting a target part to a target machine. The target machine is a drive-in target machine. The cavity 301 at the bottom of the target machine contains space for accommodating the bottom body 302 of the unmanned forklift. Through the positioning point of the target machine, the unmanned forklift can be aligned and driven into the cavity 301 at the bottom of the target machine. That is, the cavity 301 at the bottom of the target machine can accommodate the bottom body 302 of the unmanned forklift, so that the unmanned forklift can drive into the target machine. At the same time, the unmanned forklift delivers the target part to the target machine. After subsequent processing of the target part, the target part can be sent into the cavity of the target machine for coating treatment.

[0044] In this embodiment, a target machine for coating a target part can be specified. For example, the first work instruction received by the unmanned forklift can also carry relevant information about the target machine, so that the unmanned forklift can deliver the target part to the target machine according to the first work instruction. In actual application, a positioning point is set in the area where the target machine is located. When the unmanned forklift moves to the positioning point of the target machine, it can be determined that the unmanned forklift has arrived at the target machine. When the unmanned forklift does not move to the positioning point of the target machine, it can be determined that the unmanned forklift has not arrived at the target machine. It can be understood that the positioning point of the target machine can be used to limit the unmanned forklift's access to the target machine's location.

[0045] The unmanned forklift is also equipped with a sensor camera, which can be a charge-coupled device (CCD) camera. The sensor camera can play a visual navigation role for the unmanned forklift and perceive the surrounding environment of the unmanned forklift through visual information. After the unmanned forklift delivers the target part to the positioning point of the target machine, the center of the target part is controlled to align with the sensor camera configured on the unmanned forklift so that the sensor camera can be located at the center of the target part, thereby limiting the position of the target part on the unmanned forklift. In this embodiment, the center of the target part can be aligned with the sensor camera configured on the unmanned forklift by adjusting the position of the unmanned forklift's transfer platform. When the position of the unmanned forklift's transfer platform changes, the position of the center of the target part relative to the sensor camera will also change, thereby aligning the center of the target part with the sensor camera. In this embodiment, aligning the center of the target part with the sensor camera can unify the position of each target part on the unmanned forklift, thereby making the center of the target part that has been coated into a preset shape, and the target parts can be placed stably, which is conducive to the unmanned forklift to accurately stack the target parts and prevent the target parts from falling.

[0046] In actual applications, the process of unmanned forklift taking away the target parts and transporting them to the positioning point of the target machine requires the cooperation of different modules, such as Figure 4 As shown, Figure 4 A schematic diagram of the interaction of different modules is shown, including workstations, IoT servers, unmanned forklift dispatching systems, and gates.

[0047] Step 1: The IoT server writes the work order information into the PLC and returns it to the workstation.

[0048] Step 2: The workstation places the parts in sequence according to the work order information and scans the barcodes of the parts.

[0049] Step 3: The workstation compares the scan results and work order information.

[0050] Step 4: If the comparison results are not the same, an error alarm is issued.

[0051] Step 5: If the comparison results are the same, production begins and work tasks are arranged, where the work tasks here refer to coating the target parts.

[0052] Step 6: Generate a work task, and the workstation sends the work task back to the IoT server.

[0053] Step 7: The IoT server calls the unmanned forklift dispatching system to confirm whether the vehicle can be dispatched.

[0054] Step 8: The unmanned forklift dispatching system determines whether the unmanned forklift responds.

[0055] Step 9: If the unmanned forklift does not respond, it means that the vehicle cannot be dispatched.

[0056] Step 10: If the unmanned forklift responds, the unmanned forklift dispatching system returns the dispatchable vehicle information to the IoT server.

[0057] Step 11: The IoT server sends a first work instruction to the unmanned forklift dispatching system.

[0058] In step 12, when the unmanned forklift takes the target part according to the first work instruction, the unmanned forklift dispatching system feeds back to the IoT server that the unmanned forklift has completed the pickup.

[0059] Step 13: The unmanned forklift dispatching system can also control the gate to open so that the unmanned forklift can enter the coating area.

[0060] In step 14, the IoT server can provide feedback to the workstation for processing the next batch of parts.

[0061] In step 15, when the unmanned forklift delivers the target part to the target machine according to the first work instruction, the unmanned forklift scheduling system feeds back to the IoT server that the unmanned forklift has arrived at the target machine.

[0062] In step 16, the IoT server sends the positioning point where the unmanned forklift can enter the target machine to the unmanned forklift dispatching system, so that the unmanned forklift can further deliver the target part to the positioning point of the target machine.

[0063] In one embodiment, Figure 5 As shown, the center of the target part is aligned with the sensing camera configured for the unmanned forklift, including:

[0064] Step S501: Determine whether the center of the target part is aligned with the sensing camera.

[0065] After the unmanned forklift reaches the positioning point of the target machine, the sensing camera can be used to confirm whether the center of the target part is aligned with the sensing camera.

[0066] Step S502 : When the center of the target part is not aligned with the sensing camera, a first position offset of the transfer platform of the unmanned forklift is determined, and the position of the transfer platform of the unmanned forklift is adjusted according to the first position offset.

[0067] Here, the forks of the unmanned forklift carry a component for holding target parts, such as a pallet. By adjusting the height of the forklift and the position of the unmanned forklift, the unmanned forklift can carry out operations such as transporting and stacking the target parts. A transfer platform is located between the forklift and the component holding the target parts. The transfer platform can move within an allowable range. When the transfer platform moves, the component holding the target parts also moves, causing the target parts to change in position.

[0068] In the case where the center of the target part is not aligned with the sensing camera, the position of the transfer platform can be adjusted to align the center of the target part with the sensing camera. In practical applications, the sensing camera can determine a first position offset based on the center position of the target part, wherein the position of the target part is corrected by the first position offset, so that the center position of the target part can be aligned with the sensing camera. In this embodiment, the first position offset can be an XY axis coordinate. For example, assuming that the center of the target part is 2 mm to the left of the sensing camera, the position of the transfer platform can be adjusted by the first position offset (2, 0), that is, the transfer platform is moved 2 mm to the right, thereby aligning the center of the target part with the sensing camera.

[0069] In actual applications, after the unmanned forklift reaches the positioning point of the target machine, the fork of the unmanned forklift can also be controlled to rise. During the rising process of the fork of the unmanned forklift, the mobile platform on the fork of the unmanned forklift, the components used to hold the target parts, and the target parts will also rise accordingly. Then, the center of the target part can be positioned, so that the target part can fall within the focal length range of the sensing camera, and the center position of the target part can be determined more accurately.

[0070] In one embodiment, Figure 6 As shown, determining whether the center of the target part is aligned with the sensing camera includes:

[0071] Step S601: Determine a second position offset of the center of the target part relative to the sensing camera.

[0072] The sensing camera can determine the center position of the target part. Based on this, the second position offset of the target part's center relative to the sensing camera can be determined, using the sensing camera position as a reference. For example, a second position offset of -1 mm means that the center of the target part is 1 mm to the left of the sensing camera. In practical applications, the second position offset can also be expressed in coordinate form.

[0073] In step S602 , when the second position offset falls within a set range, it is determined that the center of the target part is aligned with the sensing camera.

[0074] Here, there are two situations where the center of the target part is completely aligned with the sensing camera and approximately aligned. Specifically, when the second position offset is 0, it means that the center of the target part is completely aligned with the sensing camera. In actual applications, if the center of the target part is to be completely aligned with the sensing camera, the position of the transfer platform of the unmanned forklift needs to be adjusted multiple times. Based on this, in order to improve the position calibration efficiency of the target part, within a certain error range, it can also be confirmed that the center of the target part is aligned with the sensing camera. This situation is approximately aligned. Therefore, in this embodiment, when the second position offset falls within the set range, it can be determined that the center of the target part is aligned with the sensing camera. In one feasible method, the setting range can be ≤1.5mm, that is, when the second position offset is ≤1.5mm, it is determined that the center of the target part is aligned with the sensing camera.

[0075] Step S603 : When the second position offset exceeds a set range, it is determined that the center of the target part is not aligned with the sensing camera.

[0076] Here, if the second position offset exceeds the set range, for example, if the second position offset is greater than 1.5 mm, it indicates that the center of the target part deviates from the sensing camera. Therefore, it can be determined that the center of the target part is not aligned with the sensing camera.

[0077] In actual applications, after the unmanned forklift adjusts the position of the transfer platform according to the first position offset, the sensing camera is required to reconfirm whether the center of the target part after position correction is aligned with the sensing camera.

[0078] In one embodiment, after performing position correction, the sensing camera can once again determine whether the center of the target part is aligned with the sensing camera. If it is determined that the center of the target part is not aligned with the sensing camera, the position of the transfer platform will be adjusted again by the first position offset. This process will be repeated until the center of the target part is aligned with the sensing camera. In actual applications, repeatedly calibrating the position of the target part will take a lot of time. In order to improve work efficiency, the conditions for stopping calibration are defined in this embodiment. That is, after the position of the transfer platform has been adjusted multiple times according to the first position offset, if the center of the target part is still not aligned with the sensing camera, the unmanned forklift will issue a first error alarm. This first error alarm is used to indicate that an error has occurred in the position calibration of the target part.

[0079] The following describes a scenario in which the first false alarm is issued in an achievable manner:

[0080] When the center of the target part is not aligned with the sensing camera, the unmanned forklift adjusts the position of the transfer platform according to the first position offset A to perform the first adjustment.

[0081] After adjusting the position of the transfer platform, the sensing camera detects that the center of the target part is still not aligned with the sensing camera. The unmanned forklift adjusts the position of the transfer platform again according to the first position offset B for a second adjustment.

[0082] After adjusting the position of the transfer platform for the second time, the sensing camera detects again that the center of the target part is still not aligned with the sensing camera. The unmanned forklift adjusts the position of the transfer platform again according to the received first position offset C, and performs a third adjustment.

[0083] After adjusting the position of the transfer platform for the third time, if the sensing camera still detects that the center of the target part is not aligned with the sensing camera, the calibration of the position of the target part is stopped and the unmanned forklift is controlled to issue a first error alarm.

[0084] In practical applications, achieving the position calibration of the target part requires the coordination of multiple different modules, such as Figure 7 As shown, Figure 7 A schematic diagram shows the interaction of different modules during the position calibration of the target part, including the gate, unmanned forklift scheduling system, Internet of Things server, transfer platform and induction controller.

[0085] Step 1: The unmanned forklift dispatching system instructs the gate to open so that the unmanned forklift can enter the coating room.

[0086] Step 2: When the unmanned forklift reaches the positioning point of the target machine and the forks of the unmanned forklift are raised, feedback is sent to the IoT server.

[0087] Step 3: The IoT server sends an instruction to the transfer platform to confirm the position deviation of the target part.

[0088] Step 4: The transfer platform calls the induction camera controller to control the induction camera to start locating the center of the target part.

[0089] Step 5: The sensing camera controller controls to confirm whether the sensing camera is at the center of the target part.

[0090] Step 6: In the case of no alignment, the sensing camera controller returns the first position offset to the transfer platform.

[0091] Step 7: The transfer platform adjusts the position of the transfer platform according to the first position offset and sends a re-inspection instruction to the sensing camera controller.

[0092] In step 8, the sensor camera controller re-centers the target part and returns the new first position offset to the transfer platform. This process is repeated until the second position offset is ≤ 1.5 mm. If this occurs more than three times, a first error alarm is issued. The second position offset refers to the positional offset of the target part's center relative to the sensor camera lens.

[0093] Step 9: When aligned, the sensing camera controller returns a confirmation message of alignment to the transfer platform.

[0094] Step 10: The transfer platform sends a confirmation message of alignment to the IoT server.

[0095] Through the above Figure 7 The information interaction between the modules shown completes the position calibration of the target part.

[0096] In step S203 , the fork of the unmanned forklift is controlled to rise to a suspension positioning point so as to mount the target part on the target machine for coating.

[0097] Here, the fork of the unmanned forklift is controlled to rise to the hanging positioning point, so that the target part can also be raised to the hanging positioning point. When the target part rises to the hanging positioning point, the target part can be sent into the cavity of the target machine, and the target part can be mounted in the target machine, so that the target machine can coat the target part. For example, the target machine can set a hook at a set position, and when the target part rises to the hanging positioning point, the target part can be mounted on the hook. In actual applications, to achieve the target part being mounted in the target machine, the target part needs to be placed in a specified position. This specified position includes the height and horizontal position of the target part. The height of the target part can be achieved by adjusting the height of the fork of the unmanned forklift, and the horizontal position is achieved by aligning the center of the target part with the sensing camera in step S202. In actual applications, the target machine here can be a vapor deposition machine that performs coating treatment on the target part.

[0098] refer to Figure 3 As shown, in Figure 3 In the process, after the unmanned forklift drives to the positioning point of the target machine, by adjusting the position of the target part and controlling the fork of the unmanned forklift to rise to the hanging positioning point, the target part can be introduced into the lower part 303 of the cavity, so that the target machine can perform coating treatment on the target part.

[0099] Step S204 , controlling the unmanned forklift to transport the target part that has undergone the coating process back to the second target workbench specified by the first work instruction.

[0100] Here, the second target workbench is as follows Figure 1A workbench in the workstation area shown, the second target workbench can be dedicated to placing parts that have been coated. In actual application, the first work instruction specifies the second target work platform for storing the target parts. After the target parts complete the coating treatment, the unmanned forklift can transport the coated target parts back to the second target work platform, that is, store the target parts on the second target work platform, and then the unmanned forklift completes the corresponding work task.

[0101] In this embodiment, before the target parts are coated, the position of the transfer platform of the unmanned forklift is adjusted so that the center point of the target part is aligned with the sensing camera to achieve position correction of the target parts, and the center of the target parts after coating can also be made into a preset shape. Based on this, the centers of the target parts placed on the second target working platform are all in the preset shape, thereby ensuring the stable placement of the target parts, and the uniform shape of the target parts is also conducive to stacking the target parts.

[0102] In actual application, after the unmanned forklift transports the coated target parts back to the second target workstation, it can return to the charging standby area to recharge and wait for the next task. After the unmanned forklift completes multiple tasks, it can continuously remove the target parts from the first target workstation, accurately deliver the target parts to the target machine cavity for coating, and then store the coated target parts on the second target workstation.

[0103] In one embodiment, before transporting the coated target part back to the second target platform specified by the first work instruction, the target part needs to be re-placed on an unmanned forklift, which then enables the unmanned forklift to transport the target part. Specifically, after the target machine completes the coating process on the target part, the unmanned forklift issues a second work instruction, which activates the suspension device, which removes the target part from the target machine and re-places it on the unmanned forklift, allowing the unmanned forklift to transport the target part to the second target work platform.

[0104] In one embodiment, Figure 8 As shown, the target part after coating is transported back to the second target work platform specified by the first work instruction, including:

[0105] Step S801: Control the fork of the unmanned forklift to descend from the suspension positioning point to the set position, and confirm whether the center of the target part after the coating treatment is a preset shape.

[0106] Here, before the target part is coated, the forklift's fork can be raised to place the target part into the cavity of the target machine. After the target part is coated, the forklift's fork is first lowered. In this embodiment, the set position can be 3-5 cm below the suspension positioning point, that is, the forklift's fork is lowered 3-5 cm from the suspension positioning point. As the forklift's fork is lowered, the target part is also lowered, thereby removing the target part from the cavity of the target machine.

[0107] In practical applications, it is also necessary to inspect the target parts that have been coated to further determine whether the center of the target parts is a preset shape, where the preset shape can be a perfect circle, square, or other shape that is conducive to smooth stacking. Here, by inspecting whether the center of the target parts that have been coated is the preset shape, it can be ensured that the center of the target parts after coating has the same shape, which is conducive to the unmanned forklift to accurately stack the target parts. In practical applications, the sensing camera can be activated to detect the center of the target parts that have been coated.

[0108] Step S802 , when the center of the target part after the coating process is in a preset shape, the target part after the coating process is sent back to the second target workbench specified by the first work instruction.

[0109] If the sensor camera detects that the center of the coated target part is in the preset shape, it indicates that the target part was correctly positioned before the coating process. In other words, the center of the target part is aligned with the sensor camera, ensuring that the target part can be stably stored. The unmanned forklift then transports the target parts without coating process errors back to the second target workbench for storage. In actual application, when the center of each target part is in the preset shape, the unmanned forklift can improve the stability of the target parts when stacking them, thereby reducing the chance of the target parts falling.

[0110] In one embodiment, if the sensing camera detects that the center of the target part that has been coated is not in the preset shape, it indicates that there is an error in the placement of the target part before the coating process, that is, the center of the target part is not aligned with the sensing camera, resulting in the center of the target part not being in the preset shape. In this case, since the shapes of the target parts are all different, the target parts stacked on the second target workbench will not be stable, making it easy for the target parts to fall from the second target workbench. Based on this, the unmanned forklift will issue a second error alarm, which can prompt that the center of the target part is not aligned with the sensing camera, and then perform corresponding processing on the target part that is not in the preset shape. For example, the target part that is not in the preset shape can be stored on other workbenches.

[0111] In practice, once the target machine has finished coating the target part, the forklift's forks descend to a set position, exiting the target machine's cavity. The forklift then exits the coating room and returns to the workstation. Within the workstation, the forklift uses a sensor camera to determine whether the center of the coated target part is in the preset shape. If so, the part is placed on a second target workstation within the workstation. If not, the forklift issues a second error alarm.

[0112] In practical applications, coating the target parts requires the collaboration of different modules, such as Figure 9 As shown, Figure 9 A schematic diagram of module interaction during the coating process is shown, including an evaporator, an IoT server, an unmanned forklift dispatching system, and a gate.

[0113] Step 1: The IoT server uses the unmanned forklift dispatching system to raise the fork of the unmanned forklift to the suspension positioning point.

[0114] Step 2: The unmanned forklift dispatching system feeds back the completion of the unmanned forklift's fork raising to the IoT server.

[0115] Step 3: The IoT server sends operating information to the vapor deposition machine.

[0116] Step 4: The vapor deposition machine starts running and feeds back to the IoT server after the operation is completed.

[0117] In step 5, the IoT server lowers the fork of the unmanned forklift to the set position through the unmanned forklift dispatching system and instructs the unmanned forklift to exit the coating room.

[0118] like Figure 10 As shown, Figure 10 A schematic diagram of the module interactions for detecting target parts that have undergone coating treatment is shown, which includes an unmanned forklift dispatching system, an IoT server, a transfer platform, an induction camera controller, and a gate.

[0119] Step 1: The IoT server instructs the unmanned forklift's fork to descend to the set position through the unmanned forklift dispatching system, and instructs the unmanned forklift to exit the coating room.

[0120] Step 2: The unmanned forklift dispatching system instructs the gate to close.

[0121] Step 3: The IoT server determines whether the center of the target part is in the preset shape through the transfer platform instruction.

[0122] Step 4: The transfer platform determines whether the center of the target part is in the preset shape by sensing the camera controller.

[0123] Step 5: The sensing camera controller determines whether the center of the target part is a preset shape.

[0124] Step 6: If the center of the target part is not in the preset shape, a second error alarm is issued.

[0125] Step 7: If the center of the target part is the preset shape, feedback is given to the transfer platform.

[0126] Step 8: The transfer platform feeds back the preset shape of the target part center to the IoT server.

[0127] Step 9: The unmanned forklift dispatching system reports to the IoT server that the unmanned forklift has exited the coating room, and reports to the IoT server that the gate has been closed.

[0128] Step 10: The unmanned forklift dispatching system sends feedback to the IoT server that the unmanned forklift has placed the target part on the second target workbench.

[0129] Step 11: The unmanned forklift dispatching system sends feedback to the IoT server indicating that the unmanned forklift has returned to the charging standby area.

[0130] In the above embodiment, the unmanned forklift receives a first work instruction, and according to the first work instruction, controls the unmanned forklift to take the target part from the first target workstation specified by the first work instruction, and controls the unmanned forklift to drive to the positioning point of the target machine, and delivers the target part to the positioning point of the target machine, wherein the positioning point of the target machine is used to instruct the unmanned forklift to drive into the target machine, and controls the fork of the unmanned forklift to rise to the hanging positioning point, thereby delivering the target part into the cavity of the target machine, so that the target machine coats the target part, which can ensure that the center of the target part after coating is a preset shape, so that the unmanned forklift can achieve high-precision stacking of the target parts, avoid the target parts from falling during stacking, and thus improve the operating efficiency of the unmanned forklift.

[0131] In one embodiment, an unmanned forklift storage and retrieval device is provided, referring to Figure 11 As shown, the unmanned forklift cargo storage and retrieval device 1100 may include: a receiving module 1101 , a first control module 1102 , a second control module 1103 , a third control module 1104 and a fourth control module 1105 .

[0132] Among them, the receiving module 1101 is used to receive a first work instruction; the first control module 1102 is used to control the unmanned forklift to take the target part from the first target workstation specified by the first work instruction according to the first work instruction; the second control module 1103 is used to control the unmanned forklift to travel to the positioning point of the target machine to deliver the target part to the target machine, and control the center of the target part to align with the sensing camera equipped with the unmanned forklift; the third control module 1104 is used to control the fork of the unmanned forklift to rise to the hanging positioning point to mount the target part on the target machine for coating; the fourth control module 1105 is used to control the unmanned forklift to transport the coated target part back to the second target workstation specified by the first work instruction; wherein, the center of the coated target part is a preset shape.

[0133] In one embodiment, the second control module 1103 is specifically used to determine whether the center of the target part is aligned with the sensing camera; when the center of the target part is not aligned with the sensing camera, determine the first position offset of the transfer platform of the unmanned forklift, and adjust the position of the transfer platform of the unmanned forklift according to the first position offset of the transfer platform of the unmanned forklift.

[0134] In one embodiment, the second control module 1103 is specifically configured to issue a first error alarm if the center of the target part is still not aligned with the sensing camera after the transfer platform of the unmanned forklift is adjusted a set number of times according to the first position offset.

[0135] In one embodiment, the second control module 1103 is specifically used to determine the second position offset of the center of the target part relative to the sensing camera. When the second position offset falls within a set range, it is determined that the center of the target part is aligned with the sensing camera; when the second position offset exceeds the set range, it is determined that the center of the target part is not aligned with the sensing camera.

[0136] In one embodiment, the fourth control module 1105 is specifically configured to issue a second working instruction after the target part has completed the coating process, where the second working instruction is configured to activate the suspension device to mount the target part on an unmanned forklift.

[0137] In one embodiment, the fourth control module 1105 is specifically used to control the unmanned forklift to lower the suspension positioning point to a set position and confirm whether the center of the target part after the coating treatment is a preset shape; when the center of the target part after the coating treatment is the preset shape, the target part after the coating treatment is returned to the second target workbench specified by the first work instruction.

[0138] In one embodiment, the fourth control module 1105 is further configured to issue a second error warning when the center of the target part after coating is not in a preset shape; the second error warning is configured to indicate that the center of the target part is not aligned with the sensing camera.

[0139] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, an unmanned forklift cargo storage and retrieval method is implemented.

[0140] In one embodiment, an unmanned forklift is provided, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements a method for storing and retrieving goods by the unmanned forklift when executing the computer program.

[0141] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or currently unidentified medium used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0142] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0143] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. An unmanned forklift cargo storage and retrieval method, characterized in that: The method comprises: receiving a first work instruction, and controlling an unmanned forklift to remove a target part from a first target workbench specified by the first work instruction according to the first work instruction; Controlling the unmanned forklift to travel to a positioning point of a target machine to deliver the target part to the target machine, and controlling the center of the target part to align with a sensing camera configured for the unmanned forklift; the positioning point of the target machine is used to instruct the unmanned forklift to enter the target machine; Controlling the fork of the unmanned forklift to rise to a suspension positioning point so as to mount the target part on the target machine for coating; Control the unmanned forklift to transport the target part after the coating process back to the second target workbench specified by the first work instruction; wherein, the center of the target part after the coating process is a preset shape; the preset shape is a shape for stable stacking; if the center of the target part after the coating process is not the preset shape, issue a second error alarm; the second error alarm is used to prompt that the center of the target part is not aligned with the sensing camera.

2. The method for storing and retrieving goods by an unmanned forklift according to claim 1, characterized in that: The method of controlling the center of the target part to align with the sensing camera configured on the unmanned forklift includes: determining whether the center of the target part is aligned with the sensing camera; When the center of the target part is not aligned with the sensing camera, a first position offset of the transfer platform of the unmanned forklift is determined, and the position of the transfer platform of the unmanned forklift is adjusted according to the first position offset of the transfer platform of the unmanned forklift.

3. The method for storing and retrieving goods by an unmanned forklift according to claim 2, characterized in that: The method further comprises: After the transfer platform of the unmanned forklift is adjusted a set number of times according to the first position offset, if the center of the target part is still not aligned with the sensing camera, a first error alarm is issued.

4. The method for storing and retrieving goods by an unmanned forklift according to claim 2, characterized in that: Determining whether the center of the target part is aligned with the sensing camera includes: determining a second position offset of the center of the target part relative to the sensing camera; When the second position offset falls within a set range, determining that the center of the target part is aligned with the sensing camera; When the second position offset exceeds a set range, it is determined that the center of the target part is not aligned with the sensing camera.

5. The method for storing and retrieving goods by an unmanned forklift according to claim 1, characterized in that: Before controlling the unmanned forklift to transport the target part after the coating process back to the second target workbench specified by the first work instruction, the method includes: After the target part has completed the coating process, a second work instruction is issued; the second work instruction is used to start the suspension device to mount the target part on the unmanned forklift.

6. The method for storing and retrieving goods by an unmanned forklift according to claim 1, characterized in that: The step of transporting the target part after the coating process back to the second target workbench specified by the first work instruction includes: Controlling the unmanned forklift to descend from the suspension positioning point to a set position, and confirming whether the center of the target part after the coating treatment is a preset shape; When the center of the target part after the coating process is in a preset shape, the target part after the coating process is sent back to the second target workbench specified by the first work instruction.

7. An unmanned forklift cargo storage and retrieval device, characterized in that: include: A receiving module, configured to receive a first work instruction; a first control module, configured to control an unmanned forklift to remove a target part from a first target workbench specified by the first work instruction according to the first work instruction; A second control module is used to control the unmanned forklift to travel to the positioning point of the target machine to deliver the target part to the target machine, and to control the center of the target part to align with the sensing camera configured by the unmanned forklift; The positioning point of the target machine is used to instruct the unmanned forklift to enter the target machine; a third control module, configured to control the fork of the unmanned forklift to rise to a suspension positioning point so as to mount the target part on the target machine; a fourth control module, configured to control the unmanned forklift to transport the target part after the coating process back to the second target workbench specified by the first work instruction; wherein the center of the target part after the coating process is in a preset shape; the preset shape is a shape for stable stacking; and if the center of the target part after the coating process is not in the preset shape, a second error alarm is issued; The second false alarm is used to prompt that the center of the target part is not aligned with the sensing camera.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor, the unmanned forklift cargo storage and retrieval method as described in any one of claims 1 to 6 is implemented.

9. An unmanned forklift, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method for storing and retrieving goods by an unmanned forklift as described in any one of claims 1 to 6 is implemented.

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