A task execution method based on unmanned forklift and related equipment
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- MULTIWAY ROBOTICS TECH (SHENZHEN) CO LTD
- Filing Date
- 2023-02-13
- Publication Date
- 2026-07-21
Smart Images
Figure CN116124147B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of transportation system technology, and in particular to a task execution method and related equipment based on an unmanned forklift. Background Technology
[0002] With the development of the transportation industry, forklifts capable of handling large quantities of goods have become increasingly common and are widely used in the handling of large cargo, such as container operations in ports, which can significantly improve economic efficiency. Furthermore, with the advancement of computer technology, efficient, safe, and accurate unmanned electric forklifts are also widely used in ports, warehouses, workshops, and other similar settings.
[0003] Unmanned electric forklifts integrate various devices such as scheduling systems, warehouse management systems, and onboard systems, enabling multiple forklifts to work collaboratively in the same space and complete complex tasks. However, during operation, the scheduling of unmanned forklifts relies on SLAM navigation systems and sensor network systems. While these systems can allocate tasks, they only achieve the most basic task acquisition and execution. Task allocation still requires extensive management involvement and precise deployment of the unmanned forklifts. Therefore, the utilization and execution efficiency of unmanned forklifts remains relatively low, limiting their performance in handling large quantities of goods. Furthermore, safety factors must be considered during operation to ensure the safe use of unmanned forklifts and avoid unnecessary losses. Summary of the Invention
[0004] The technical problem to be solved by the present invention is the low operating efficiency of unmanned forklift systems. In view of the shortcomings of the existing technology, the present invention provides a task execution method and related equipment based on unmanned forklifts.
[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:
[0006] A task execution method based on an unmanned forklift, the method comprising:
[0007] Obtain map instructions, and determine the target map in the preset scene map based on the map instructions;
[0008] When a site instruction for the target map is detected, site information is generated according to the site instruction;
[0009] When a road traffic instruction for the target map is detected, road traffic information is generated based on the road traffic instruction and the station information;
[0010] Based on the road information and the preset storage location pattern, the site information is allocated storage locations to generate storage location information;
[0011] When a task instruction is detected, an operation instruction is generated based on the preset forklift coordinates, station information, lane information, and storage location information to control the unmanned forklift to perform the task.
[0012] The task execution method based on the unmanned forklift, wherein the station instruction includes a base point, row end point, column end point, and array information; and generating station information based on the station instruction includes:
[0013] The row direction is determined based on the base point and the row endpoint; and,
[0014] The column direction is determined based on the base point and the column endpoint;
[0015] Station information is generated based on the row direction, the column direction, and the array information.
[0016] The task execution method based on unmanned forklifts, wherein the path instruction includes a main scatter point and a task scatter point; the step of generating path information based on the path instruction and the station information includes:
[0017] Based on the main scatter points, a first main road is generated; and,
[0018] Based on the task scatter points, generate the first task path;
[0019] According to the preset lane rules and the station information, the first main lane and the first task lane are adjusted to generate lane information, wherein the lane information includes the second main lane and the second task lane.
[0020] The task execution method based on unmanned forklifts, wherein generating operation instructions based on preset forklift coordinates, station information, aisle information, and storage location information to control the unmanned forklift to perform task execution includes:
[0021] When a task instruction is detected, a first path is determined based on the preset forklift coordinates corresponding to the unmanned forklift and the target coordinates corresponding to the task instruction.
[0022] Based on the road information, the first path is adjusted to obtain a second path corresponding to the task instruction;
[0023] Based on the preset task operation and the second path, operation instructions are generated to control the unmanned forklift to perform the task.
[0024] The task execution method based on an unmanned forklift, wherein the station information includes charging stations, and the task instruction includes a charging instruction; before generating an operation instruction to control the unmanned forklift to perform task execution based on preset forklift coordinates, the station information, the aisle information, and the storage location information when a task instruction is detected, further includes:
[0025] Monitor the remaining battery power or operating time of the unmanned forklift;
[0026] A charging command is generated based on the remaining battery power or the operating time.
[0027] The task execution method based on unmanned forklifts includes a task instruction that includes a delivery execution, which includes a loading task and an unloading task. The execution objects corresponding to the loading task and the unloading task include point objects and set objects.
[0028] The task execution method based on an unmanned forklift, wherein determining the first path according to the preset forklift coordinates and the target coordinates corresponding to the task instruction includes:
[0029] When the execution object is a collection object, the target coordinates are determined based on the collection coordinates and path information corresponding to the collection object;
[0030] The first path is determined based on the forklift coordinates corresponding to the unmanned forklift and the target coordinates.
[0031] A task execution device based on an unmanned forklift includes:
[0032] The acquisition module is used to acquire map instructions and determine the target map in the preset scene map based on the map instructions;
[0033] The first generation module is used to generate site information according to the site instruction when a site instruction for the target map is detected;
[0034] The second generation module is used to generate road information based on the road instruction and the station information when a road instruction for the target map is detected.
[0035] The allocation module is used to allocate storage locations to the station information based on the roadway information and the preset storage location pattern, and generate storage location information.
[0036] The third generation module is used to generate operation instructions based on the preset forklift coordinates, station information, lane information and storage location information of the unmanned forklift when a task instruction is detected, so as to control the unmanned forklift to perform the task.
[0037] A computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps in the task execution method based on an unmanned forklift as described above.
[0038] A terminal device includes: a processor, a memory, and a communication bus; the memory stores a computer-readable program that can be executed by the processor;
[0039] The communication bus enables communication between the processor and the memory;
[0040] When the processor executes the computer-readable program, it implements the steps in the task execution method based on the unmanned forklift as described above.
[0041] Beneficial effects: In this embodiment, based on traditional unmanned forklift operations, mapping, station recording, and path mapping are integrated, effectively assisting the unmanned forklift in performing tasks and improving operational efficiency. Simultaneously, based on the path mapping at each station, the formation route of the unmanned forklift can be generated, which significantly improves driving efficiency and reduces the occurrence of risks compared to SLAM navigation systems and sensor network systems. Attached Figure Description
[0042] Figure 1 A flowchart of the task execution method based on an unmanned forklift provided by the present invention.
[0043] Figure 2 This is a schematic diagram of the base point, row endpoint, and column endpoint in the task execution method based on an unmanned forklift provided by the present invention.
[0044] Figure 3 This is a schematic diagram of the warehouse location mode of the task execution method based on unmanned forklifts provided by the present invention.
[0045] Figure 4 This is a schematic diagram of the main path and the task path for the task execution method based on unmanned forklifts provided by the present invention.
[0046] Figure 5 This is a schematic diagram of the structure of the task execution device based on an unmanned forklift provided by the present invention.
[0047] Figure 6 The structural schematic diagram of the terminal device provided by the present invention. Detailed Implementation
[0048] This invention provides a task execution method based on an unmanned forklift. To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining the invention and are not intended to limit the invention.
[0049] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this specification means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.
[0050] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.
[0051] like Figure 1 As shown, this embodiment provides a task execution method based on an unmanned forklift. For ease of explanation, a common server is used as the execution entity for description. The server here can be replaced by a tablet, computer, or other device with data processing capabilities. This device can communicate with the unmanned forklift to send instructions to the unmanned forklift and control its actions. The task execution method based on the unmanned forklift includes the following steps:
[0052] S10. Obtain map instructions and determine the target map in the preset scene map according to the map instructions.
[0053] Specifically, the first step is to obtain map commands, which are scene maps used in the unmanned forklift's working environment when there are no goods. Scene maps can be obtained from construction companies or constructed by pre-collecting point clouds using methods such as lasers. After the scene map is constructed, it can be retrieved using map commands to determine the target map.
[0054] Since unmanned forklifts are not limited to a single scenario, several maps can be pre-stored, each with its own map label, such as a first-floor map and a second-floor map. The map label can be included in the map instructions, and the target map within the scenario map can be determined based on the map label.
[0055] S20. When a site instruction for the target map is detected, site information is generated according to the site instruction.
[0056] Specifically, in the same scenario, the allocation of stations and storage locations for different types of goods will vary. After obtaining the target map, the stations on the target map need to be marked based on the actual scenario to obtain the station information for this forklift operation scenario.
[0057] When entering a site command, the user can choose a click-to-select mode, but this method is slow and time-consuming. Therefore, in this embodiment, the site command includes the base point, row end point, column end point, and array information. The base point is the starting point, such as... Figure 2 As shown, the base point is generally the endpoint position in the entire subsequent network of stations. The row endpoint and column endpoint do not signify the end of a station, but rather a point along the row or column direction. Based on the base point and row endpoint, the row direction can be determined; based on the base point and column endpoint, the column direction can be determined. Having determined the row and column directions, stations can be distributed along these directions, starting from the base point. Array information includes information such as the distance between stations in a station array, the number of stations in each row, and the number of stations in each column. Based on the row and column directions and the array information, stations can be arranged starting from the base point to obtain the station information.
[0058] Functionally, stations can be divided into loading stations, unloading stations, charging stations, and standby stations. Loading stations are for storing goods that need to be loaded, unloading stations are for storing goods that need to be unloaded, charging stations are for charging unmanned forklifts, and standby stations are for waiting for instructions when the unmanned forklifts are not in operation.
[0059] S30. When a road traffic instruction for the target map is detected, road traffic information is generated based on the road traffic instruction and the station information.
[0060] Specifically, when unmanned forklifts are handling goods, they require a specific path command to operate. Under normal circumstances, unmanned forklifts rely on SLAM navigation systems and sensor networks to sense the environment and determine their routes. This can easily lead to overlapping or intersecting paths, resulting in slow transport speeds between picking up and delivering goods. Therefore, in this embodiment, in addition to station information, the user can also input path commands. When a path command targeting the target map is detected, path planning can be performed between stations based on the existing station information and the path command on the target map to obtain path information.
[0061] Taking main lanes and task lanes as examples, the main lanes are wider, allowing multiple automated forklifts to pass through. Task lanes are located in areas where automated forklifts perform unloading or loading tasks, typically between stations, and are relatively narrow. In planning lanes, this embodiment provides a method for creating main lanes and task lanes to improve lane generation efficiency, including the following steps:
[0062] A10. Generate a first main path based on the main scatter points; and generate a first task path based on the task scatter points.
[0063] Specifically, the path command includes main scatter points and task scatter points. Main scatter points are used to generate main paths, while task scatter points are used to generate task paths. Main or task scatter points can form a line, or simply two points spaced at intervals. For the main scatter points, a regression line is constructed, which serves as a first main path. For the task scatter points, another regression line is constructed, which serves as a first task path. Several sets of main and task paths can be used to generate several first main paths and first task paths.
[0064] A20. Based on the preset lane rules and the station information, adjust the first main lane and the first task lane to generate lane information.
[0065] Specifically, lane rules are pre-defined, such as the maximum length and minimum width of the main lane and task lane, and the requirement that a main lane must intersect with another main lane or task lane. The length and width of the lanes need to be determined based on the distance between stations and the size of the stations. Therefore, based on the lane rules and station information, the first main lane and the first task lane can be adjusted to obtain the second main lane and the second task lane, thus obtaining lane information. For example... Figure 3 As shown, the second main road 1 intersects with the second task channel corresponding to storage area 1, and the second main road 2 intersects with the second main road 1.
[0066] Furthermore, in some scenarios, such as storage warehouses, the unloading locations may not have any items placed at the scene level. In this case, the aisle information may also include adjustable aisles corresponding to the task aisles. As loading or unloading proceeds, for each shipping instruction, the adjustable aisles are adjusted according to the unloading locations in the shipping instruction until the parameters of the adjustable aisles are adjusted to be the same as the parameters of the corresponding task aisles.
[0067] For example, if the unloading stations are located in a three-row, three-column array of storage locations, when goods are unloaded from any of the unloading stations, the length or width of the adjustable aisles is adjusted based on the coordinates of the unloading station.
[0068] S40. Based on the roadway information and the preset storage location mode, allocate storage locations to the station information to generate storage location information.
[0069] Specifically, loading and unloading sites are used to store goods, hence the term "warehouse location." Multiple warehouse location patterns can be pre-set. The allocation of warehouse locations primarily aims to achieve a balanced distribution of tasks, grouping several locations into a set to store a single type of goods, thus facilitating goods handling. For example... Figure 4 The diagram shows various storage location patterns. A storage location pattern can be a set of storage locations in a single column, a set of several storage locations in the same row, or an irregular shape. A single storage location may contain only one type of goods; several sets may correspond to the same type of goods, but these storage locations all correspond to only one type of task. When setting up stations, placement can be based on pre-defined storage location patterns. After obtaining the aisle information, the location of the station corresponding to each storage location and the set corresponding to that location can be determined based on the aisle information, station information, and storage location pattern, thus obtaining the storage location information.
[0070] S50. When a task instruction is detected, an operation instruction is generated based on the preset forklift coordinates corresponding to the unmanned forklift, the station information, the aisle information, and the storage location information to control the unmanned forklift to perform the task.
[0071] Specifically, the system acquires the forklift coordinates in real time. When a user issues a task command, such as moving goods from set 1 to set 2, it first obtains the station coordinates of all storage locations in set 1 as target coordinates, based on the area corresponding to set 1. Then, based on the forklift coordinates and target coordinates, it determines the first path for the unmanned forklift to reach the station and retrieve the goods. Next, based on the roadway information, it adjusts the first path to obtain a second path that allows the forklift to correctly reach storage location 1. Finally, according to a pre-set task, such as a loading operation, the second path is bound to the loading operation to obtain the subsequent operation commands for the unmanned forklift, thereby controlling the forklift to execute the task.
[0072] In this embodiment, based on traditional unmanned forklift operations, mapping, station recording, and path mapping are integrated, effectively assisting the unmanned forklift in performing tasks and improving operational efficiency. Simultaneously, based on the path mapping at each station, the formation route of the unmanned forklift can be generated, which significantly improves driving efficiency and reduces risks compared to SLAM navigation systems and sensor network systems.
[0073] Furthermore, when a charging task is required at a charging station, the task instruction includes a charging instruction. In this embodiment, the charging instruction can be automatically generated in two ways: one is based on the remaining battery power, and the other is based on a fixed time. The remaining battery power or working time of the unmanned forklift is monitored. When the remaining battery power is detected to be below a preset danger level, a charging instruction is generated. Similarly, when the working time has reached a preset charging time (e.g., two hours of operation as the charging time, or noon as the charging time), a charging instruction is generated. For the charging instruction, the target coordinates are the location of the charging station.
[0074] Furthermore, the task instructions also include standby instructions, which monitor the load and load time of the unmanned forklift in real time. When the load of the unmanned forklift is zero for a long time, it can be determined that the unmanned forklift is currently in an empty load state, so a standby instruction is generated. The target coordinates are the location of the standby station, thereby controlling the unmanned forklift to go to the standby station to wait for task assignment.
[0075] The most common type of task instruction is the freight instruction, which corresponds to a freight task. A freight task includes loading and unloading tasks. First, the goods at location A are loaded, then transported to location B, and finally unloaded at location B, completing the entire freight instruction. Depending on the execution object of the loading and unloading tasks, the execution object can be divided into point objects and collection objects. A point object is a single station as the execution object, while a collection object includes several libraries, meaning multiple stations within those libraries are used as the execution object. Based on this, freight tasks can be categorized into point-to-point tasks, point-to-collection tasks, collection-to-point tasks, and collection-to-collection tasks, depending on the object.
[0076] For point-to-point tasks, which involve transporting goods between two points from the starting point to the ending point for unloading, if the pick-up and unloading points are located in different task lanes, the unmanned forklift will proceed from its current location to the pick-up point to pick up the goods, then exit the task lane where the pick-up point is located and enter the connected main lane, and finally enter the task lane where the unloading point is located to reach the unloading point and drop off the goods.
[0077] For point-to-aggregate tasks, which involve transporting goods between points and lines / areas, automated forklifts sequentially pick up goods at the same pickup station and proceed to the warehouse locations within the aggregate to unload them. The task ends once all unloading stations have been completed. For point-to-aggregate tasks, warehouse locations further from the main aisle within the aggregate are unloaded first to improve handling efficiency.
[0078] For the assembly-to-point task, which involves transporting goods between lines / areas, goods from multiple storage locations within the assembly will be transported sequentially to a single unloading station until all storage locations have retrieved their goods, at which point the task concludes. In the assembly-to-point task, storage locations closer to the main aisle are loaded first to improve handling efficiency.
[0079] For collection-to-collection tasks, used to realize the transportation of goods between lines / areas, goods are picked up sequentially from storage locations in one collection, and then unloaded sequentially from storage locations in another collection, until all goods are unloaded. During loading, storage locations further away from the main aisle in a collection are unloaded first, and during unloading, storage locations closer to the main aisle in a collection are loaded first.
[0080] Therefore, when the execution object is a collection object, the target coordinates, i.e., the coordinates of the specific storage location, are determined based on the collection coordinates and path information corresponding to the collection object. Then, the first path is determined based on the forklift coordinates corresponding to the unmanned forklift and the target coordinates. Instead of directly determining the path based on the coordinates corresponding to the collection, this allows for the calculation of a faster arrival route, improving loading and unloading efficiency.
[0081] Based on the above-described task execution method for unmanned forklifts, the present invention also provides a task execution device 100 for unmanned forklifts, such as... Figure 5 As shown, the device includes:
[0082] The acquisition module 110 is used to acquire map instructions and determine the target map in the preset scene map according to the map instructions;
[0083] The first generation module 120 is used to generate station information according to the station instruction when a station instruction for the target map is detected;
[0084] The second generation module 130 is used to generate road information based on the road instruction and the station information when a road instruction for the target map is detected.
[0085] The allocation module 140 is used to allocate storage locations to the station information according to the road information and the preset storage location mode, and generate storage location information.
[0086] The third generation module 150 is used to generate operation instructions based on the preset forklift coordinates, station information, lane information and storage location information corresponding to the unmanned forklift when a task instruction is detected, so as to control the unmanned forklift to perform the task.
[0087] The station instructions include a base point, row endpoint, column endpoint, and array information; the first generation module 120 is specifically used for:
[0088] The row direction is determined based on the base point and the row endpoint; and,
[0089] The column direction is determined based on the base point and the column endpoint;
[0090] Station information is generated based on the row direction, the column direction, and the array information.
[0091] The path instructions include main scatter points and task scatter points; the second generation module 130 is specifically used for:
[0092] Based on the main scatter points, a first main road is generated; and,
[0093] Based on the task scatter points, generate the first task path;
[0094] According to the preset lane rules and the station information, the first main lane and the first task lane are adjusted to generate lane information, wherein the lane information includes the second main lane and the second task lane.
[0095] The third generation module 150 includes:
[0096] The first path unit is used to determine the first path when a task instruction is detected, based on the preset forklift coordinates corresponding to the unmanned forklift and the target coordinates corresponding to the task instruction.
[0097] The second path unit is used to adjust the first path according to the road information to obtain a second path corresponding to the task instruction.
[0098] The generation unit is used to generate operation instructions based on the preset task operation and the second path to control the unmanned forklift to perform the task.
[0099] The site information includes charging stations, and the task instructions include charging instructions. The task execution device 100 based on the unmanned forklift further includes a charging instruction generation module, which is specifically used for:
[0100] Monitor the remaining battery power or operating time of the unmanned forklift;
[0101] A charging command is generated based on the remaining battery power or the operating time.
[0102] The task instructions include cargo delivery execution, which includes loading and unloading tasks. The execution objects corresponding to the loading and unloading tasks include point objects and set objects.
[0103] Specifically, the first path unit is used for:
[0104] When the execution object is a collection object, the target coordinates are determined based on the collection coordinates and path information corresponding to the collection object;
[0105] The first path is determined based on the forklift coordinates corresponding to the unmanned forklift and the target coordinates.
[0106] Based on the above-described task execution method using an unmanned forklift, the present invention also provides a terminal device, such as... Figure 6 As shown, it includes at least one processor 20; a display screen 21; and a memory 22, and may also include a communications interface 23 and a bus 24. The processor 20, display screen 21, memory 22, and communications interface 23 can communicate with each other via the bus 24. The display screen 21 is configured to display a preset user guide interface in the initial setup mode. The communications interface 23 can transmit information. The processor 20 can invoke logical commands stored in the memory 22 to execute the methods described in the above embodiments.
[0107] Furthermore, the logical commands in the aforementioned memory 22 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.
[0108] The memory 22, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, such as program commands or modules corresponding to the methods in the embodiments of this disclosure. The processor 20 executes functional applications and data processing by running the software programs, commands, or modules stored in the memory 22, thereby implementing the methods in the above embodiments.
[0109] The memory 22 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 22 may include high-speed random access memory (RAM) and non-volatile memory. Examples include various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks; it may also be a transient computer-readable storage medium.
[0110] Furthermore, the specific process of loading and executing multiple command processors in the aforementioned computer-readable storage medium and terminal device has been described in detail in the above method, and will not be repeated here.
[0111] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A task execution method based on an unmanned forklift, characterized in that, The method includes: Obtain map instructions, and determine the target map in the preset scene map based on the map instructions; When a site instruction for the target map is detected, site information is generated according to the site instruction; When a road traffic instruction for the target map is detected, road traffic information is generated based on the road traffic instruction and the station information; Based on the road information and the preset storage location pattern, the site information is allocated storage locations to generate storage location information; When a task instruction is detected, an operation instruction is generated based on the preset forklift coordinates, station information, aisle information, and storage location information to control the unmanned forklift to perform the task. The route instruction includes a main scatter point and task scatter points; the generation of route information based on the route instruction and the station information includes: Based on the main scatter points, a first main road is generated; and, Based on the task scatter points, generate the first task path; According to the preset lane rules and the station information, the first main lane and the first task lane are adjusted to generate lane information, wherein the lane information includes the second main lane and the second task lane.
2. The task execution method based on an unmanned forklift according to claim 1, characterized in that, The station instruction includes a base point, row end point, column end point, and array information; generating station information based on the station instruction includes: The row direction is determined based on the base point and the row endpoint; and, The column direction is determined based on the base point and the column endpoint; Station information is generated based on the row direction, the column direction, and the array information.
3. The task execution method based on an unmanned forklift according to claim 1, characterized in that, The step of generating operation instructions based on the preset forklift coordinates, station information, aisle information, and storage location information to control the unmanned forklift to perform tasks includes: When a task instruction is detected, a first path is determined based on the preset forklift coordinates corresponding to the unmanned forklift and the target coordinates corresponding to the task instruction. Based on the road information, the first path is adjusted to obtain a second path corresponding to the task instruction; Based on the preset task operation and the second path, operation instructions are generated to control the unmanned forklift to perform the task.
4. The task execution method based on an unmanned forklift according to claim 3, characterized in that, The site information includes charging stations, and the task instruction includes a charging instruction; before generating an operation instruction based on the preset forklift coordinates corresponding to the unmanned forklift, the site information, the aisle information, and the storage location information to control the unmanned forklift to perform the task, the method further includes: Monitor the remaining battery power or operating time of the unmanned forklift; A charging command is generated based on the remaining battery power or the operating time.
5. The task execution method based on an unmanned forklift according to claim 3, characterized in that, The task instructions include cargo delivery execution, which includes loading and unloading tasks. The execution objects corresponding to the loading and unloading tasks include point objects and set objects.
6. The task execution method based on an unmanned forklift according to claim 5, characterized in that, The step of determining the first path based on the preset forklift coordinates and the target coordinates corresponding to the task instruction includes: When the execution object is a collection object, the target coordinates are determined based on the collection coordinates and path information corresponding to the collection object; The first path is determined based on the forklift coordinates corresponding to the unmanned forklift and the target coordinates.
7. A task execution device based on an unmanned forklift, characterized in that, The task execution device based on the unmanned forklift includes: The acquisition module is used to acquire map instructions and determine the target map in the preset scene map based on the map instructions; The first generation module is used to generate site information according to the site instruction when a site instruction for the target map is detected; The second generation module is used to generate path information based on the path instruction and the station information when a path instruction for the target map is detected; the path instruction includes a main scatter point and a task scatter point; the generation of path information based on the path instruction and the station information includes: Based on the main scatter points, a first main road is generated; and, Based on the task scatter points, generate the first task path; According to the preset lane rules and the station information, the first main lane and the first task lane are adjusted to generate lane information, wherein the lane information includes the second main lane and the second task lane. The allocation module is used to allocate storage locations to the station information based on the roadway information and the preset storage location pattern, and generate storage location information. The third generation module is used to generate operation instructions based on the preset forklift coordinates, station information, lane information and storage location information of the unmanned forklift when a task instruction is detected, so as to control the unmanned forklift to perform the task.
8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps in the task execution method based on an unmanned forklift as described in any one of claims 1 to 6.
9. A terminal device, characterized in that, include: Processor, memory, and communication bus; The memory stores a computer-readable program that can be executed by the processor; The communication bus enables communication between the processor and the memory; When the processor executes the computer-readable program, it implements the steps of the task execution method based on an unmanned forklift as described in any one of claims 1 to 6.