A warning method and system based on forklift loading trend correction behavior analysis

Abstract

The present application relates to the technical field of logistics warehousing, and more particularly to a method and system for analyzing and warning forklift transportation trend correction behavior, which includes: obtaining fork positioning point information and target positioning point information to obtain a corresponding movement route; controlling the forklift movement according to the movement route and recording all fork positioning point information during the movement; after the forklift movement is completed, obtaining the current fork positioning point information, determining whether the current fork positioning point information is within a preset first error range, and outputting a corresponding positioning result; obtaining cargo weight information, determining whether the cargo weight information is within a preset second error range, and outputting a corresponding weight result; obtaining corresponding forklift behavior information based on the positioning result and weight result, and comparing it with business instructions; if the forklift behavior information does not meet the business instructions, determining that the forklift is operating abnormally and issuing a warning. The present application has the effect of improving the management of forklifts working in logistics warehouses.

Description

Technical Field

[0001] The present application relates to the technical field of logistics warehousing, and in particular to a method and system for analyzing and warning of deviation-correcting behavior based on forklift transportation trends. Background Art

[0002] In logistics warehousing, there are several cargo spaces in the warehouse for placing goods. Several rows of goods may be placed on each storage space, and several layers of goods can be placed at the same time. Several forklifts used to transport goods in and out of the warehouse travel between the storage spaces to complete the inventory and retrieval operations.

[0003] In this type of logistics warehousing, forklifts face a more complex working environment and often have problems such as positioning errors and loading errors. In the current logistics warehousing industry, the corresponding management capabilities of forklifts during work are relatively poor, and it is often impossible to detect and issue warnings in time when the forklift's operation does not comply with the pre-specified commands. This results in a significant impact on the overall operation of the warehouse when the forklift makes a working error. Summary of the Invention

[0004] In order to improve the management of forklifts working in logistics warehouses, the present application provides an early warning method and system based on forklift carrying trend correction behavior analysis.

[0005] This application provides a forklift loading trend correction behavior analysis and early warning method, which adopts the following technical solutions:

[0006] A method for analyzing and warning for forklift loading trend correction behavior, comprising the following steps:

[0007] Get fork positioning point information;

[0008] Get target positioning point information;

[0009] Acquire a corresponding moving route according to the fork positioning point information and the target positioning point information;

[0010] Controlling the movement of the forklift according to the moving route and recording all fork positioning point information during the movement;

[0011] After the forklift moves, the current positioning point information of the fork is obtained, and whether the current positioning point information of the fork is within a preset first error range is determined, and a corresponding positioning result is output;

[0012] After the cargo is forked, the cargo weight information is obtained, whether the cargo weight information is within a preset second error range is determined, and the corresponding weight result is output;

[0013] Acquire corresponding forklift behavior information according to the positioning result and the weight result, and compare the forklift behavior information with preset business instructions;

[0014] If the forklift behavior information satisfies the business instruction, it is determined that the forklift is operating normally;

[0015] If the forklift behavior information does not meet the business instructions, it is determined that the forklift is operating abnormally, and corresponding warning information is output to issue a warning.

[0016] Preferably, the method for obtaining the fork positioning point information includes:

[0017] Acquire forklift positioning point information, wherein the forklift positioning point information is characterized by position information of a positioning device installed in the forklift body;

[0018] Get the forklift's forward direction;

[0019] According to the forward direction of the forklift, the forklift positioning point information is increased by a preset length information along the forward direction of the forklift to obtain the fork positioning point information.

[0020] Preferably, if the current positioning point information of the fork cannot be obtained, the method further includes the following steps:

[0021] Determine whether at least two fork positioning point information can be detected within a preset backtracking time period before the current time;

[0022] If not, the preset backtracking time period is extended, and it is determined again whether the fork positioning point information can be detected;

[0023] If yes, then obtain all fork positioning point information within the preset backtracking time period, integrate the information of several fork positioning points to obtain a motion trajectory, and determine whether the motion trajectory intersects with the storage location boundary line;

[0024] If an intersection occurs, the forklift's forward direction at the intersection and the fork positioning point closest to the warehouse boundary line within the preset backtracking time period are obtained;

[0025] The current fork positioning point information is estimated based on the forklift's forward direction, the fork positioning point information closest to the storage location boundary line, the corresponding length within a preset backtracking time period, and the forklift speed.

[0026] Preferably, the first error range includes a cargo error range and a storage location error range, the cargo error range being obtained by adding or subtracting a preset error value from the target location information, and the storage location error range being a range of locations within a closed space enclosed by the boundaries of the target location. Acquiring current fork location information, determining whether the current fork location information is within the preset first error range, and outputting a corresponding positioning result include:

[0027] Determine whether the current positioning point information of the fork is within the storage position error range;

[0028] If it is not within the storage location error range, the positioning result is abnormal;

[0029] If it is within the storage location error range, then determine whether the current positioning point information of the fork is within the cargo error range;

[0030] If it is within the cargo error range, the positioning result is normal;

[0031] If it is not within the cargo error range, the positioning result is abnormal.

[0032] Preferably, after the cargo is forked, obtaining cargo weight information includes:

[0033] Obtain the weight of all cargo from the fork raising to the fork lowering along the preset time period;

[0034] Obtaining a target cargo weight and a first preset error ratio, and obtaining a first error interval based on the target cargo weight and the first preset error ratio;

[0035] Obtaining the weight of all cargo weights that is within the first error interval and naming it a first cargo weight, and calculating the ratio of the number of first cargo weights that meet the first error interval, where the ratio is represented by the ratio of the number of first cargo weights of each group with the same weight that meet the first error interval to the number of all first cargo weights;

[0036] The first cargo weight with the largest quantity ratio is selected as the reference cargo weight, and cargo weight information is obtained according to the reference cargo weight.

[0037] Preferably, after selecting the first cargo weight with the largest quantity ratio as the reference cargo weight, the method further includes:

[0038] Obtaining a second error range based on the reference cargo weight and a second preset error ratio;

[0039] Obtaining the cargo weight that satisfies the second error interval among all the first cargo weights and naming it the second cargo weight;

[0040] An average value of all second cargo weights is calculated to obtain a final cargo weight, and the final cargo weight is defined as cargo weight information.

[0041] Preferably, the second error range is obtained by adding or subtracting a preset error value from the target cargo weight, and determining whether the cargo weight information is within the preset second error range and outputting the corresponding weight result include:

[0042] If the cargo weight information is within the second error range, the weight result is normal;

[0043] If the cargo weight information is not within the second error range, the weight result is abnormal.

[0044] Preferably, obtaining corresponding forklift behavior information according to the positioning result and the weight result includes the following steps:

[0045] If the positioning result and / or the weight result is abnormal, the forklift behavior information does not meet the business instruction;

[0046] If the positioning result and the weight result are normal, the forklift behavior information meets the business instruction.

[0047] In a second aspect, the present application provides an early warning system based on forklift loading trend correction behavior analysis, which adopts the following technical solutions:

[0048] A forklift carrying trend correction behavior analysis and early warning system includes a control module, a positioning module, a weighing module, a drive module and an early warning module, wherein:

[0049] The positioning module is installed in the body of the forklift, and is used to obtain target positioning point information and fork positioning point information according to business instructions;

[0050] The control module is used to obtain fork positioning point information, obtain target positioning point information, and obtain a corresponding movement route based on the fork positioning point information and the target positioning point information, and control the driving module to drive the forklift to move according to the movement route, and record all fork positioning point information during the movement process;

[0051] The control module is further configured to obtain the current positioning point information of the fork after the forklift has finished moving, determine whether the current positioning point information of the fork is within a preset first error range, and output a corresponding positioning result;

[0052] The weighing module is used to calculate the weight of the cargo after the forklift lifts the cargo;

[0053] The control module is further configured to obtain cargo weight information, determine whether the cargo weight information is within a preset second error range, and output a corresponding weight result;

[0054] Acquire corresponding forklift behavior information according to the positioning result and the weight result, and compare the forklift behavior information with preset business instructions;

[0055] If the forklift behavior information satisfies the business instruction, it is determined that the forklift is operating normally;

[0056] If the forklift behavior information does not meet the business instructions, it is determined that the forklift is working abnormally and a corresponding warning message is output;

[0057] The early warning module is used to receive early warning information and issue an early warning according to the early warning information.

[0058] In summary, this application includes at least one of the following beneficial technical effects:

[0059] 1. Use positioning and weighing algorithms to determine the behavior of forklifts during operation and whether the behavior corresponds to business instructions. This allows for determining whether the forklifts are operating normally, providing relative management of the forklifts in the warehouse and reducing the forklifts' responsiveness when errors occur.

[0060] 2. By providing corresponding solution algorithms for whether the positioning signal is blocked or not, the movement information of the forklift can be positioned more accurately;

[0061] 3. Through the unique cargo weight algorithm, it can adaptively solve the weighing work faced with the weight data that is always changing in the forklift working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a schematic diagram of the overall process of the embodiment of the present application;

[0063] Figure 2 This is a schematic diagram comparing forklift behavior information and business instructions in an embodiment of the present application. DETAILED DESCRIPTION

[0064] The following is combined with Figure 1-2 This application is described in further detail.

[0065] The embodiment of the present application discloses an early warning method based on analysis of forklift carrying trend correction behavior.

[0066] like Figure 1 and Figure 2 As shown, a warning method based on forklift loading trend correction behavior analysis includes:

[0067] S100, obtaining fork positioning point information.

[0068] Specifically, the forklift's positioning point information is first obtained. This information represents the location of the positioning device installed inside the forklift. Because the forks of a forklift are used to lift and lower cargo, if the positioning device is installed on the forks, a large number of wires will be routed along the forks. This will not only affect the forklift's operation but also make the positioning device susceptible to damage. Therefore, the positioning device must be installed inside the forklift body.

[0069] When the positioning device is installed in the forklift body, the coordinates of the positioning point are the position on the forklift body, and what we need to locate is the position of the fork, because the position of the fork needs to be matched with the position of the cargo, which is more accurate. Therefore, it is necessary to obtain the forward direction of the forklift, which can be determined by the movement trajectory of the forklift in the past period of time, and according to the forward direction, the forklift positioning point information is increased by the preset length information along the forward direction to obtain the fork positioning point information.

[0070] This preset length is generally the length of the vehicle body and can be adjusted according to specific circumstances.

[0071] It is convenient to monitor the goods in the warehouse and to dispatch the forklifts in the warehouse. The coordinate system based on the warehouse is pre-established, and specific coordinate parameters will be set for each storage location, each entrance and exit, and each point in the warehouse.

[0072] For example, the forklift positioning point information is (30, 40), and it is determined that the forklift is moving along the x-axis direction, and the preset length is 8, then its fork positioning point information is (38, 40).

[0073] S200: Obtain target positioning point information.

[0074] Target location information represents the center point of a piece or set of goods within a specific location within a logistics warehouse. Based on the width of the goods, the system determines how many goods can be placed simultaneously along the width of the location. Furthermore, the system determines how many goods can be placed along the length of each location. Finally, this data is integrated to determine the location of the goods when they are placed into the location.

[0075] For example, it is known that the coordinates of the two corner points on the outside of storage location A are (0, 10) and (10, 10), and the coordinates of the two corner points on the inside are (0, 40) and (10, 40), and it is known that the width of the goods stored in this storage location is 8 and the length is 4. Therefore, only one item can be placed horizontally in this storage location, and up to 10 columns of goods can be stored vertically. Then, without considering the stacking of goods, according to the storage rule from the inside to the outside, when the first item is placed, the coordinates of the center point of the goods may be (5, 12), (4, 12), or (6, 12). Because the width of the goods is smaller than the width of the storage location, there may be a certain change in the width when the goods are stored. However, when the forklift forks the goods, as long as the fork contacts most of the cargo casing, it can be lifted up, so it is fine as long as it is within the error range.

[0076] S300: Acquire a corresponding moving route according to the fork positioning point information and the target positioning point information.

[0077] Once the fork positioning and target positioning information are obtained, the forklift's starting point and destination are determined, and a corresponding movement route is developed based on these two points. Because most logistics warehouses use a method of evenly dividing storage spaces horizontally and vertically, there are no large number of turns or dead ends inside the warehouse. Therefore, when developing a route, only the shortest route is required.

[0078] Specifically, forklift work includes a variety of situations:

[0079] 1. When a forklift needs to place goods from the logistics warehouse entrance to the target storage location, the location where the forklift picks up the goods is the forklift positioning point information, and the fork positioning point information is calculated and defined as the starting point, and the end point is the target positioning point information where the goods need to be placed.

[0080] 2. When a forklift needs to go to a storage location and move goods from one storage location to another, the fork positioning point information is obtained according to the current location of the forklift, and the first storage location is used as the target positioning point information, and a route is planned to go there. After the forklift is picked up, the target positioning point information of the goods in the first storage location is used as the starting point, and the place where the goods are put down in the second storage location is used as the second target positioning point information and a route is planned. In addition, there is no need to plan a route to the second storage location when picking up the goods. When obtaining business instructions, two routes can be directly specified based on the three points of the forklift location, loading storage location, and unloading storage location.

[0081] 3. When the goods in the storage location need to be forked and taken away from the logistics warehouse, the location of the goods is used as the fork positioning point information, and the unloading point outside the logistics warehouse is used as the target positioning point information, and the entrance and exit location point information of the logistics warehouse is obtained, and the corresponding route is specified based on the starting point, the entrance and exit location point information of the logistics warehouse and the target positioning point information.

[0082] S400: Control the movement of the forklift according to the moving route and record all fork positioning point information during the movement.

[0083] After the moving route is formulated, the forklift is controlled to move forward, backward, turn left, turn right, etc. according to the route, and the forklift's fork positioning point information is recorded at certain time intervals while the forklift moves.

[0084] S500, after the forklift moves, obtain the current positioning point information of the fork, determine whether the current positioning point information of the fork is within a preset first error range, and output the corresponding positioning result.

[0085] After the forklift has finished moving, it may deviate from its route due to uneven road conditions, old and tilted tires, human contact, etc. At this time, there may be a deviation between the final stopping position of the forklift and the target positioning point after moving according to the moving route. Therefore, in order to make certain corrections and early warnings for the subsequent fork lifting / lowering operations to proceed normally, it is necessary to obtain the current positioning point information of the forks.

[0086] At the same time, the positioning operation in this application uses UWB positioning, which is a communication technology based on wireless carriers. Its infinite waves are sometimes blocked. For example, when a forklift enters a certain storage location, when there are high goods in the storage location and the adjacent storage locations on both sides, its infinite waves will be blocked. At this time, the positioning signal disappears and positioning will be impossible. Therefore, in order to predict and correct the positioning point when the wireless wave is blocked by the goods and the positioning disappears, which may cause a large movement deviation, the following steps are also included:

[0087] Determine whether at least two fork positioning points can be detected within the preset backtracking time period before the current time. The preset backtracking time period is generally set to 3-5 seconds, and can be adjusted to a longer time based on actual conditions. Next, taking 5 seconds as an example, if the current time is 15:30:35, then determine whether at least two fork positioning points can be detected within 5 seconds from 15:30:30 to 15:30:35.

[0088] If not, then the length of the preset backtracking time period is extended, for example, 5 seconds is extended to 10 seconds, and it is determined whether there are at least two fork positioning point information within 10 seconds before the current time, and this cycle is repeated until at least two fork positioning point information can be detected.

[0089] After obtaining information on at least two fork positioning points, the information on all detected fork positioning points is integrated and connected to obtain the activity trajectory of the forklift within the preset backtracking time period, and it is determined whether the activity trajectory intersects the storage location boundary line.

[0090] If an intersection occurs, the location point information of the intersection and the forward direction of the forklift at the intersection are obtained.

[0091] Generally, before a forklift enters a storage location, it will not be blocked by a lot of goods, and its positioning signal is relatively normal. However, after entering the storage location, it will often be blocked by densely stacked goods. Therefore, we only need to determine whether the forklift's activity trajectory in the past period of time has intersected with the boundary of the storage location. This boundary generally refers to the outermost wide side of the storage location, because the forklift needs to move from the outermost side to the inner side of the storage location.

[0092] If the activity trajectory is found to intersect with the storage location boundary, it is determined that the forklift has entered the storage location. We need to obtain the fork positioning point information closest to the storage location boundary line within the preset backtracking time period and obtain the forklift's forward direction. Finally, the position of the fork's current positioning point information is predicted based on the corresponding time length of the preset backtracking time period and the speed of the forklift. The forklift's moving speed is constant when moving forward or backward in a straight line.

[0093] The forklift positioning point information closest to the boundary line is selected because the volume of the forklift is larger than the intersection point. Therefore, the forklift as a whole is generally covered by the boundary line at the positioning point closest to the boundary line. In addition, the forklift has generally turned when it is on the boundary line and only needs to move forward in a straight line to enter the warehouse. Therefore, there is no need to consider whether it will turn, and the calculation is more accurate. If the earliest forklift positioning point information in the backtracking time period is selected, the forklift may not have turned or is turning at this time. The forward direction of the forklift at this time is different from the forward direction when entering the warehouse. Therefore, it is very likely that a large position prediction deviation will occur when making the prediction.

[0094] For example: after 10 seconds of backtracking, it is found that the forklift's activity trajectory intersects with the warehouse boundary, and during this backtracking time, the fork positioning point information closest to the warehouse boundary is (10.3, 5), the forklift's forward direction is perpendicular to the warehouse boundary, and the time point of this point is 15:30:33, and the current time is 15:30:40, which means that after 7 seconds of backtracking time, and it is known that the forklift's moving speed is 1.1 per second, then after 7 seconds, its current positioning point information should be (2.6, 5), which is the predicted current positioning point information.

[0095] If the forklift's forward direction is not perpendicular to the storage location boundary, but is tilted to a certain extent, then the corresponding deviation angle is combined with the Pythagorean theorem to obtain the corresponding positioning point information.

[0096] The first error range includes a cargo error range and a storage location error range. The cargo error range is obtained by adding or subtracting a preset error value from the target location information. The storage location error range is the range of the location points within the closed space enclosed by the boundary of the target location.

[0097] The target positioning point is the center of the cargo. When the fork positioning point reaches the target positioning point, the fork can pick up the cargo at the optimal position. However, since it is not possible to achieve extreme precision in actual situations, a cargo error range needs to be set. Within this range, the fork can pick up the cargo. Outside this range, the fork cannot pick up the cargo or cannot pick up the cargo safely.

[0098] The location error range is used to determine whether the forklift belongs to the correct location. Because the distance between locations is very close, the forklift may enter the wrong location due to route deviation.

[0099] First, determine whether the current positioning point information of the fork is within the storage location error range. If not, it means that the forklift is in another storage location, and the positioning result is abnormal. If it is within the storage location error range, it means that it is in the correct storage location. At this time, determine whether the current positioning point information of the fork is within the cargo error range to determine whether the cargo can be forked in the correct storage location.

[0100] If it is within the cargo error range, the positioning result is normal, which means the cargo can be picked up normally. If it is not, it means that the cargo cannot be picked up normally and the positioning result is abnormal.

[0101] S600, after the cargo is forked, the cargo weight information is obtained, whether the cargo weight information is within a preset second error range is determined, and the corresponding weight result is output.

[0102] After moving to the corresponding positioning point, the cargo weight is also detected. Obtaining cargo weight information also includes:

[0103] Obtain the weight of all cargo from the time the forks are raised to the time they are lowered over a preset time period.

[0104] The weight of the cargo is measured by a weighing module, which is generally installed between the forks and the vehicle body. When there is no cargo on the forks, the weighing module measures the weight of the forks. When the cargo is on the forks, the weight is the total weight of the forks and cargo. Therefore, the weight of the forks needs to be subtracted in advance.

[0105] The preset time can be 1-3s, that is, the weight of the goods is recorded once every period of time.

[0106] The target cargo weight and a first preset error ratio are obtained. The target cargo weight can be known when the business instruction is received, and the first preset error ratio is a pre-stored value. The first error interval is obtained according to the target cargo weight and the first preset error ratio.

[0107] For example, when the first preset error ratio is 5% and the target cargo weight is 1 ton, the target cargo weight is added or subtracted by the weight represented by the first preset error ratio, that is, 1+1*5%, 1-1*5%, and the first error interval is {0.95, 1.05}.

[0108] Because there is a certain error between the real-time measured weight and the actual weight of the forklift when it lifts and lowers the goods, the road is bumpy, and the distance and position of the goods on the fork are different, resulting in different torques. For example, the weighing value when the goods are lifted is larger, and the weighing value when the goods are lowered is smaller. Therefore, it is necessary to set an error value to initially filter out the weight values ​​with larger errors during the process of lifting and lowering the goods.

[0109] The cargo weight within the first error interval among all cargo weights is obtained and named as the first cargo weight. The quantity ratio of several first cargo weights that meet the first error interval is calculated, and the first cargo weight with the largest quantity ratio is selected as the reference cargo weight.

[0110] A large amount of cargo weight information will be recorded from the time of loading to the time of unloading. However, due to the bumpy road conditions, there will generally be certain differences between these cargo weight information. Therefore, it is necessary to calculate the weight data as accurately as possible.

[0111] First, these data are brought into the first error interval and the cargo weight that falls within the first error interval is obtained, that is, the cargo weight between 0.95t and 1.05t, which is named the first cargo weight. Next, the number of times each first cargo weight value appears within the first error interval is determined and the corresponding ratio is calculated. The quantity ratio is represented by the ratio of the number of each group of identical first cargo weights that fall within the first error interval to the total number of first cargo weights.

[0112] For example, after comparison, it is found that 1t appears 8 times, 1.01t appears 9 times, 1.02t appears 4 times, 1.03t appears 5 times, 0.99t appears 7 times, and 0.96t appears 2 times. Then it is found that 1.01t appears the most times and has the largest proportion, so 1.01t is used as the reference cargo weight.

[0113] The above is the initial screening. In order to reduce the calculation error, the secondary screening is also included:

[0114] A second error interval is obtained based on the reference cargo weight and the second preset error ratio, the cargo weight that meets the second error interval among all the first cargo weights is obtained and named as the second cargo weight, the average of all the second cargo weights is calculated to obtain the final cargo weight, and the final cargo weight is defined as the cargo weight information.

[0115] That is, on the basis of 1.01t, a more detailed interval is obtained again according to the preset second preset error ratio. Generally speaking, in order to improve accuracy, the second preset error ratio is smaller than the value of the first preset error ratio. For example, it is 2% in this application, then the second error range is {1.03, 0.97}, and the values ​​that meet the second error range are found again, and the average value of these values ​​is calculated. For example, in the above example, the final calculation formula is: (1.03*5+1.02*4+1.01*9+1*8+0.99*7+0.96*2) / 35=1.005t, and finally this result is defined as the cargo weight information.

[0116] Through these steps, the values ​​with large errors when the cargo is forked and put down are first eliminated, and then the values ​​measured at the moment of bumping are eliminated. Finally, a more accurate and reasonable value range is obtained. All reasonable values ​​within the range are found and the average is taken to obtain a value that is as close to the target cargo weight as possible.

[0117] In another embodiment, the weight detection and actual weight prediction can also be performed by the following method:

[0118] First, obtain the weight of all goods, and add the first preset error ratio to all goods weights to obtain the first error interval of each goods weight. When the first preset error ratio is 5%, for example, the first error interval of 1t is {0.95, 1.05}, the first error interval of 1.1t is {0.06, 1.06}, and so on. And determine how many values ​​fall within the first error interval of 1t, how many values ​​fall within the first error interval of 1.1t, and how many values ​​fall within the error interval of 0.9t, and so on. Through the detection and analysis of big data, the value with the largest proportion is obtained. In this example, 1.05t is taken as an example. Most values ​​fall within the first error interval of 1.05t, so 1.05t is used as the standard weight, and the second preset error ratio is added to 1.05t to obtain the second error interval. All values ​​that meet the second error interval are calculated, and the average is taken as the final cargo weight information.

[0119] This method is based on the following: when the number of data in an array is very large, because the forklift is traveling for a long time, the more stable values ​​detected during the travel, that is, the actual weight of the goods themselves, are relatively large. Therefore, the actual weight and the number of values ​​with very small deviations from the actual weight must be the largest, and these numbers are relatively concentrated. Because the travel process is relatively stable, the more values ​​a value contains within its error range, the more stable the value is in the array and the closer it is to the actual weight. Finally, in order to reduce the error, the data is analyzed for error intervals, and the average value is taken to obtain the final data. In the forklift environment, this calculation method is also relatively stable and accurate.

[0120] Finally, the weight data needs to be compared with the actual weight to determine whether the forklift has picked up the goods or whether it has picked up the correct goods.

[0121] The second error range is obtained by adding or subtracting a preset error value from the target cargo weight. Since the data obtained by the above weighing algorithm in a forklift environment itself has a certain error, it is necessary to add or subtract a certain error value from the target cargo weight during comparison to obtain another error range.

[0122] If the cargo weight information meets this error range, the weight result is normal, indicating that the correct cargo has been picked up. If it does not meet this error range, the weight result is abnormal, indicating that the cargo has not been picked up or the correct cargo has not been picked up.

[0123] S700 , obtaining corresponding forklift behavior information according to the positioning result and the weight result, and comparing the forklift behavior information with the preset business instructions.

[0124] like Figure 1 and Figure 2 As shown, the corresponding forklift behavior information is obtained based on the positioning results and weight results. The forklift behavior information is characterized by a series of whole-process behavior data, such as whether the forklift correctly reaches the correct destination from the starting point, whether the forklift goes to the correct warehouse, whether the forklift picks up the goods, and whether the forklift picks up the correct goods.

[0125] Business instructions refer to the control instructions entered by the operator through the computer, including instructing the forklift to move what goods, how much weight of goods, and from where to where.

[0126] S800: If the forklift behavior information satisfies the business instructions, it is determined that the forklift is working normally; if the forklift behavior information does not satisfy the business instructions, it is determined that the forklift is working abnormally, and corresponding warning information is output to issue a warning.

[0127] If the positioning result and / or weight result is abnormal, the forklift behavior information does not meet the business instructions;

[0128] If the positioning and weight results are normal, the forklift behavior information meets the business instructions.

[0129] By combining the positioning results and the weight results, the entire business behavior of the forklift can be judged. When the positioning result is normal and the weight result is abnormal, it may be that it moved to the correct location but did not pick up the goods or picked up the wrong goods; if the positioning result is abnormal and the weight result is normal, it is very likely that it went to the wrong location but happened to pick up goods of similar weight; and only when both the positioning result and the weight result are normal, it means that the forklift has correctly completed the work commanded by the business instruction.

[0130] In addition, when abnormal behavior occurs, corresponding warning information will be output to issue an early warning. In the embodiment of the present application, an audible and optical alarm is installed in the logistics warehouse. When an alarm is issued due to an abnormality, the operators in the logistics warehouse can receive the alarm in time and go to the relevant location to check the behavior status of the forklift.

[0131] Furthermore, the present application also provides a method for displaying information about forklift behavior in a logistics warehouse, so as to facilitate operators to view information about forklifts and logistics warehouses. At least, it can display information about each storage location in the logistics warehouse, information about the goods in the storage location, and information about the behavior of the forklift. Specifically:

[0132] First, preset a two-dimensional blank coordinate interface, which takes any corner point as the zero point, and establishes a coordinate system along the length and width directions of the blank coordinate interface as the x-axis and y-axis. The storage location information in the logistics warehouse is input and displayed, and the cargo information is written and displayed. Because it is a two-dimensional interface, the number of columns and rows of cargo placed in the storage location can be displayed normally, but the number of layers of cargo is displayed by numbers. For example, if 2 is written on a cargo, it means that there are 2 layers of cargo in the column, and the forklift's route can also be displayed accordingly through coordinate points, so that the operator can view it conveniently.

[0133] The ratio of the established coordinate system to the actual length and width of the logistics warehouse can be converted accordingly based on actual measurements, thereby converting physical coordinates into digital coordinates.

[0134] It should be noted that the logistics warehouse in the present application can be a flat stack warehouse or a high-bay warehouse. Both types of logistics warehouses can be incorporated into the method in the present application.

[0135] The present application also discloses an early warning system based on forklift carrying trend correction behavior analysis, including a control module, a positioning module, a weighing module, a drive module and an early warning module, wherein:

[0136] The positioning module is installed in the body of the forklift, and in this embodiment is a UWB positioning module, which is used to obtain target positioning point information and fork positioning point information according to business instructions.

[0137] The control module is used to obtain the fork positioning point information, obtain the target positioning point information, and obtain the corresponding movement route according to the fork positioning point information and the target positioning point information, and control the drive module to drive the forklift to move according to the movement route, and record all fork positioning point information during the movement process;

[0138] The control module is further configured to obtain the current positioning point information of the forks after the forklift has finished moving, determine whether the current positioning point information of the forks is within a preset first error range, and output a corresponding positioning result.

[0139] The weighing module is installed between the vehicle body and the forklift and is used to calculate the weight of the cargo after the forklift lifts the cargo.

[0140] The control module is further configured to obtain cargo weight information, determine whether the cargo weight information is within a preset second error range, and output a corresponding weight result.

[0141] The corresponding forklift behavior information is obtained based on the positioning results and weight results, and the forklift behavior information is compared with the preset business instructions.

[0142] If the forklift behavior information meets the business instructions, it is determined that the forklift is working normally.

[0143] If the forklift behavior information does not meet the business instructions, the forklift is judged to be operating abnormally and the corresponding warning information is output.

[0144] The early warning module is used to receive early warning information and issue an early warning based on the early warning information. In the embodiment of the present application, it is a plurality of sound, light and electricity early warning modules.

[0145] In some other embodiments, a UI interface is further included, which is used to display the behavior data of the forklift and the information in the logistics warehouse.

[0146] The implementation principle is:

[0147] By positioning the forklift and weighing the goods after it has lifted them, we can obtain the corresponding forklift behavior information. By analyzing the forklift behavior information to determine whether it is correctly following the business instructions, we can obtain the final behavior result, which can effectively provide early warning of forklift work errors and manage the forklift accordingly.

[0148] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A warning method based on forklift loading trend correction behavior analysis, characterized in that: The following steps are involved: Get fork positioning point information; Get target positioning point information; Acquire a corresponding moving route according to the fork positioning point information and the target positioning point information; Controlling the movement of the forklift according to the movement route; After the forklift moves, the current positioning point information of the fork is obtained, and whether the current positioning point information of the fork is within a preset first error range is determined, and a corresponding positioning result is output; If the positioning result shows that the current positioning point information of the fork is within the first error range, the fork is controlled to pick up the cargo and obtain cargo weight information, determine whether the cargo weight information is within a preset second error range, and output a corresponding weight result, where the second error range is obtained by adding or subtracting a preset error value from the target cargo weight; Acquire corresponding forklift behavior information according to the positioning result and the weight result, and compare the forklift behavior information with preset business instructions; If the forklift behavior information satisfies the business instruction, it is determined that the forklift is operating normally; If the forklift behavior information does not meet the business instructions, it is determined that the forklift is working abnormally, and the corresponding warning information is output to issue a warning. After the cargo is forked, the cargo weight information is obtained, including: Obtain the weight of all cargo from the fork raising to the fork lowering along the preset time period; Obtaining a target cargo weight and a first preset error ratio, and obtaining a first error interval based on the target cargo weight and the first preset error ratio; Obtaining the weight of all cargo weights that is within the first error interval and naming it a first cargo weight, and calculating the ratio of the number of first cargo weights that meet the first error interval, where the ratio is represented by the ratio of the number of first cargo weights of each group with the same weight that meet the first error interval to the number of all first cargo weights; Select the first cargo weight with the largest quantity ratio as the reference cargo weight, and obtain cargo weight information based on the reference cargo weight. After selecting the first cargo weight with the largest quantity ratio as the reference cargo weight, it also includes: Obtaining a second error range based on the reference cargo weight and a second preset error ratio; Obtaining the cargo weight that satisfies the second error interval among all the first cargo weights and naming it as the second cargo weight; An average value of all second cargo weights is calculated to obtain a final cargo weight, and the final cargo weight is defined as cargo weight information.

2. The method for analyzing and warning for forklift loading trend and deviation correction behavior according to claim 1, characterized in that: The method for obtaining the fork positioning point information includes: Acquire forklift positioning point information, wherein the forklift positioning point information is characterized by position information of a positioning device installed in the forklift body; Get the forklift's forward direction; According to the forward direction of the forklift, the forklift positioning point information is increased by a preset length information along the forward direction of the forklift to obtain the fork positioning point information.

3. The method for analyzing and warning for forklift load deviation correction behavior according to claim 1, characterized in that: If the current fork positioning point information cannot be obtained, the following steps are also included: Determine whether at least two fork positioning point information can be detected within a preset backtracking time period before the current time; If not, the preset backtracking time period is extended, and it is determined again whether the fork positioning point information can be detected; If yes, then obtain all fork positioning point information within the preset backtracking time period, integrate the information of several fork positioning points to obtain a motion trajectory, and determine whether the motion trajectory intersects with the storage location boundary line; If an intersection occurs, the forklift's forward direction at the intersection and the fork positioning point closest to the warehouse boundary line within the preset backtracking time period are obtained; The current fork positioning point information is estimated based on the forklift's forward direction, the fork positioning point information closest to the storage location boundary line, the corresponding length within a preset backtracking time period, and the forklift speed.

4. The method for analyzing and warning for forklift loading trend and deviation correction behavior according to claim 1 is characterized by: The first error range includes a cargo error range and a storage location error range. The cargo error range is obtained by adding or subtracting a preset error value from the target location information. The storage location error range is the range of locations within a closed space enclosed by the boundaries of the target location. The current fork location information is obtained, and it is determined whether the current fork location information is within the preset first error range. The corresponding positioning result is output, including: Determine whether the current positioning point information of the fork is within the storage position error range; If it is not within the storage location error range, the positioning result is abnormal; If it is within the storage location error range, then determine whether the current positioning point information of the fork is within the cargo error range; If it is within the cargo error range, the positioning result is normal; If it is not within the cargo error range, the positioning result is abnormal.

5. The method for analyzing and warning for forklift loading trend and deviation correction behavior according to claim 1 is characterized by: Determining whether the cargo weight information is within a preset second error range and outputting a corresponding weight result includes: If the cargo weight information is within the second error range, the weight result is normal; If the cargo weight information is not within the second error range, the weight result is abnormal.

6. The method for early warning based on forklift loading trend correction behavior analysis according to claim 1, characterized in that: Obtaining corresponding forklift behavior information according to the positioning result and the weight result includes the following steps: If the positioning result and / or the weight result is abnormal, the forklift behavior information does not meet the business instruction; If the positioning result and the weight result are normal, the forklift behavior information meets the business instruction.

7. A forklift-based load-carrying trend correction behavior analysis and early warning system, characterized by: It includes control module, positioning module, weighing module, drive module and early warning module, among which, The positioning module is installed in the body of the forklift, and is used to obtain target positioning point information and fork positioning point information according to business instructions; The control module is used to obtain fork positioning point information, obtain target positioning point information, and obtain a corresponding movement route based on the fork positioning point information and the target positioning point information, and control the driving module to drive the forklift to move according to the movement route, and record all fork positioning point information during the movement process; The control module is further configured to obtain the current positioning point information of the fork after the forklift has finished moving, determine whether the current positioning point information of the fork is within a preset first error range, and output a corresponding positioning result; The weighing module is used to calculate the weight of the cargo after the forklift lifts the cargo; The control module is further configured to obtain cargo weight information, determine whether the cargo weight information is within a preset second error range, and output a corresponding weight result; Acquire corresponding forklift behavior information according to the positioning result and the weight result, and compare the forklift behavior information with preset business instructions; If the forklift behavior information satisfies the business instruction, it is determined that the forklift is operating normally; If the forklift behavior information does not meet the business instructions, it is determined that the forklift is working abnormally and a corresponding warning message is output; The early warning module is used to receive early warning information and issue an early warning according to the early warning information.

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