Operation control method and device, electronic equipment and storage medium

Abstract

The embodiment of the application discloses a kind of operation control method, device, electronic equipment and storage medium, the method includes: in the operation process of unmanned forklift, the positioning data of unmanned forklift is acquired;According to the positioning data of unmanned forklift, the distance between unmanned forklift and pedestrian avoidance area is determined;If the distance between unmanned forklift and pedestrian avoidance area is less than the first distance threshold, then the signal lamp corresponding to the pedestrian avoidance area is controlled to display the first color;First color is used to prompt pedestrian to prohibit passing through pedestrian avoidance area;When the signal lamp displays the first color, unmanned forklift is controlled to pass through pedestrian avoidance area. Implement the embodiment of the application, can improve the safety of unmanned forklift and staff in human-machine hybrid scene.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, and in particular to a running control method and device, an electronic device, and a storage medium. BACKGROUND

[0002] As an important intelligent logistics equipment in modern factories, the unmanned forklift plays a huge role in cargo handling, sorting, assembly, etc. However, the operation of the factory cannot completely get rid of the participation of manual work, and in some application scenarios, manual work is still needed to pack and transport goods, etc. Therefore, there is often a man-machine mixed scene in which the factory workers and the unmanned forklift are in the same working area. In the existing factory, there is a risk of mutual interference and contact between the workers and the unmanned forklift in the man-machine mixed scene, which can easily lead to serious safety accidents. SUMMARY

[0003] Embodiments of the present application disclose a running control method and device, an electronic device, and a storage medium, which can improve the safety of the unmanned forklift and the workers in the man-machine mixed scene.

[0004] Embodiments of the present application disclose a running control method, which comprises:

[0005] In the running process of the unmanned forklift, positioning data of the unmanned forklift is acquired;

[0006] According to the positioning data of the unmanned forklift, a distance between the unmanned forklift and a pedestrian avoidance area is determined;

[0007] If the distance between the unmanned forklift and the pedestrian avoidance area is less than a first distance threshold, a signal lamp corresponding to the pedestrian avoidance area is controlled to display a first color; the first color is used to prompt the pedestrians to prohibit passing through the pedestrian avoidance area;

[0008] When the signal lamp displays the first color, the unmanned forklift is controlled to pass through the pedestrian avoidance area.

[0009] In an embodiment, the method further comprises:

[0010] If the distance between the unmanned forklift and the pedestrian avoidance area is greater than or equal to the first distance threshold, the signal lamp corresponding to the pedestrian avoidance area is controlled to display a second color; the second color is used to prompt the pedestrians to allow passing through the pedestrian avoidance area.

[0011] In an embodiment, the pedestrian avoidance area comprises a corner area; the unmanned forklift is provided with a sensing device and an audible and visual alarm; the corner area is provided with an anti-collision tag, which is used for wireless communication with the sensing device; wherein:

[0012] The anti-collision tag is configured to return a response signal when receiving the wireless pulse signal sent by the induction device through the induction device;

[0013] The induction device is configured to calculate the distance between the induction device and the anti-collision tag according to the time difference between sending the wireless pulse signal and receiving the response signal;

[0014] The acousto-optic alarm is configured to send an alarm signal if the distance between the induction device and the anti-collision tag is less than a second distance threshold.

[0015] In one embodiment, the pedestrian avoidance area includes a plurality of branch roads for pedestrians to pass through; the pedestrian avoidance area includes at least two groups of signal lights, each group of signal lights is provided with a plurality of single-sided signal lights of different directions, the number of single-sided signal lights in each group of signal lights corresponds to the number of branch roads; the direction of each single-sided signal light in the at least two groups of signal lights covers each branch road.

[0016] In one embodiment, the unmanned forklift is also provided with a camera; the control of the unmanned forklift passing through the pedestrian avoidance area when the signal light displays the first color includes:

[0017] acquiring a first image collected by the camera when the signal light displays the first color; the first image includes the pedestrian avoidance area;

[0018] if it is determined according to the first image that there is a pedestrian in the pedestrian avoidance area, controlling the unmanned forklift to stop, and until it is determined according to the first image collected by the camera that there is no pedestrian in the pedestrian avoidance area, controlling the unmanned forklift to pass through the pedestrian avoidance area.

[0019] In one embodiment, the unmanned forklift includes a fork, the length of the fork exceeds the length of the goods carried by the unmanned forklift; the prong tip of the fork is provided with an anti-collision sensor; wherein:

[0020] The anti-collision sensor is configured to detect the relative distance and relative direction between the unmanned forklift and the obstacle located in front of the unmanned forklift, so as to trigger the unmanned forklift to slow down or stop moving if it is determined that the relative distance of the obstacle is less than a third distance threshold, and adjust the pose of the unmanned forklift according to the relative distance and the relative direction.

[0021] In one embodiment, the method further includes:

[0022] The unmanned forklift is controlled to go to an outlet of a first conveying line, pick up an empty tray, carry the empty tray from the outlet of the first conveying line to an inlet of a second conveying line, go to an outlet of the second conveying line to pick up a full tray obtained by loading the empty tray, and carry the full tray from the outlet of the second conveying line to an inlet of a third conveying line.

[0023] The embodiment of the present application discloses a running control device, which comprises:

[0024] The acquisition module is configured to acquire positioning data of the unmanned forklift during running of the unmanned forklift.

[0025] The determination module is configured to determine a distance between the unmanned forklift and a pedestrian avoiding area according to the positioning data of the unmanned forklift.

[0026] The control module is configured to control a signal lamp corresponding to the pedestrian avoiding area to display a first color if the distance between the unmanned forklift and the pedestrian avoiding area is less than a first distance threshold, and the first color is used to prompt pedestrians to prohibit passing through the pedestrian avoiding area.

[0027] The control module is further configured to control the unmanned forklift to pass through the pedestrian avoiding area when the signal lamp displays the first color.

[0028] The embodiment of the present application discloses an electronic device, which comprises:

[0029] A memory storing executable program codes;

[0030] A processor coupled with the memory;

[0031] The processor invokes the executable program codes stored in the memory to execute the method in any of the above embodiments.

[0032] The embodiment of the present application discloses a computer readable storage medium, which stores a computer program, wherein the computer program is executed by a processor to make the processor execute the method in any of the above embodiments.

[0033] The running control method, device, electronic device and storage medium disclosed by the embodiment of the present application can obtain the positioning data of the unmanned forklift during the running process of the unmanned forklift; determine the distance between the unmanned forklift and the pedestrian avoidance area according to the positioning data of the unmanned forklift; if the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold, control the signal lamp corresponding to the pedestrian avoidance area to display the first color; the first color is used to prompt the pedestrian to prohibit passing through the pedestrian avoidance area; and control the unmanned forklift to pass through the pedestrian avoidance area when the signal lamp displays the first color. When the unmanned forklift is about to pass through or is passing through the pedestrian avoidance area, the embodiment of the present application controls the signal lamp corresponding to the pedestrian avoidance area to display the first color, so that the staff can avoid the unmanned forklift in time when seeing the signal lamp displaying the first color, thereby reducing the risk of mutual interference and contact between the unmanned forklift and the staff, and improving the safety of the unmanned forklift and the staff in the human-machine mixed scene. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiments will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0035] Figure 1 is an application scenario diagram of a running control method disclosed by the embodiment of the present application;

[0036] Figure 2 is a flow diagram of a running control method disclosed by the embodiment of the present application;

[0037] Figure 3 is a layout diagram of a signal lamp disclosed by the embodiment of the present application;

[0038] Figure 4 is a flow diagram of another running control method disclosed by the embodiment of the present application;

[0039] Figure 5 is a flow diagram of another running control method disclosed by the embodiment of the present application;

[0040] Figure 6 is a layout diagram of a conveying line disclosed by the embodiment of the present application;

[0041] Figure 7 is a structure diagram of a running control device disclosed by the embodiment of the present application;

[0042] Figure 8 is a structure diagram of an electronic device disclosed by the embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0044] It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or devices.

[0045] This application discloses an operation control method, device, electronic device, and storage medium, which can improve the safety of unmanned forklifts and workers in human-machine hybrid scenarios.

[0046] The following will be described in detail with reference to the accompanying drawings.

[0047] like Figure 1 As shown, Figure 1 This is a schematic diagram of an application scenario for an operation control method disclosed in an embodiment of this application. The application scenario may include a central control device 10, a signal light 20, and an unmanned forklift 30.

[0048] The central control device 10 may include, but is not limited to, mobile phones, tablets, wearable devices, laptops, PCs (Personal Computers), etc., and there is no specific limitation.

[0049] Traffic lights 20 are installed in pedestrian clearance zones. Traffic lights 20 indicate whether the pedestrian clearance zone is passable by displaying different colors. For example, traffic lights 20 can display red, yellow, green, etc., where red can be used to indicate to pedestrians that they are prohibited from passing through the pedestrian clearance zone, yellow can be used to indicate to pedestrians that they should wait before passing through the pedestrian clearance zone, and green can be used to indicate to pedestrians that they are permitted to pass through the pedestrian clearance zone.

[0050] The unmanned forklift 30 is an automated guided vehicle (AGV), which may include, but is not limited to, lurking AGVs, backpack AGVs, and counterbalance AGVs.

[0051] The communication methods between the electronic device 10 and the signal light 20 and the unmanned forklift 30 may include, but are not limited to, wireless fidelity communication technology, Bluetooth communication technology, ZigBee communication technology, RS485 wireless transmission technology, cellular communication technology, etc., and are not specifically limited.

[0052] In this embodiment, the central control device 10 acquires the positioning data of the unmanned forklift 30 during its operation; determines the distance between the unmanned forklift 30 and the pedestrian avoidance area based on the positioning data; if the distance between the unmanned forklift 30 and the pedestrian avoidance area is less than a first distance threshold, it controls the traffic light 20 corresponding to the pedestrian avoidance area to display a first color; the first color is used to remind pedestrians not to pass through the pedestrian avoidance area; when the traffic light 20 displays the first color, it controls the unmanned forklift 30 to pass through the pedestrian avoidance area. Therefore, when the unmanned forklift 30 is about to or is passing through the pedestrian avoidance area, the central control device 10 controls the traffic light 20 corresponding to the pedestrian avoidance area to display the first color, so that workers can avoid the unmanned forklift 30 in time when they see the traffic light 20 displaying the first color, reducing the risk of mutual interference and contact between the unmanned forklift 30 and workers, and improving the safety of the unmanned forklift 30 and workers in human-machine hybrid scenarios.

[0053] like Figure 2 As shown, Figure 2 This is a flowchart illustrating an operation control method disclosed in an embodiment of this application. This operation control method can be applied to the central control equipment in the above-mentioned application scenarios. The operation control method may include the following steps:

[0054] 201. During the operation of the unmanned forklift, acquire the positioning data of the unmanned forklift.

[0055] The central control equipment acquires the location data of the unmanned forklift during its operation.

[0056] During the operation of unmanned forklifts, the unmanned forklifts can obtain positioning data through various positioning methods such as inertial navigation, electromagnetic navigation, magnetic stripe navigation, and laser navigation.

[0057] For example, the laser navigation positioning mode can be a Simultaneous Localization and Mapping (SLAM) positioning mode. The unmanned forklift can be provided with a laser radar sensor. During operation of the unmanned forklift, the laser radar sensor scans and models the surrounding environment to obtain the current position of the unmanned forklift and spatial information of the surrounding environment. During operation of the unmanned forklift, the laser radar sensor continuously emits laser beams and records the time and angle of the laser beams reflected back, and the unmanned forklift generates a three-dimensional point cloud image after processing the data. The point cloud image is a set of points on the surface of objects in the environment scanned by the laser radar sensor. The unmanned forklift can determine its position and motion trajectory by comparing point cloud images generated at different times. Through the above positioning mode, the unmanned forklift can automatically identify new objects or obstacles and add them to the existing map, so as to avoid them or perform other corresponding operations. Therefore, the unmanned forklift can accurately position its own position and update the three-dimensional information of the surrounding environment in real time, so that the unmanned forklift can move and operate autonomously in various complex environments, and the accuracy of the positioning data of the unmanned forklift is improved.

[0058] The unmanned forklift can send the positioning data to the central control device to enable the central control device to obtain the positioning data of the unmanned forklift in real time.

[0059] 202. Determine the distance between the unmanned forklift and the pedestrian avoidance area according to the positioning data of the unmanned forklift.

[0060] The central control device determines the distance between the unmanned forklift and the pedestrian avoidance area according to the positioning data of the unmanned forklift.

[0061] Optionally, the pedestrian avoidance area can include a crossroad area, a corner area, a personnel passage area, and the like.

[0062] The distance between the unmanned forklift and the pedestrian avoidance area can be the distance between the unmanned forklift and the center point of the pedestrian avoidance area, or the distance between the unmanned forklift and the boundary line of the pedestrian avoidance area, and the specific distance is not limited.

[0063] The central control device can store the positioning data of the planned pedestrian avoidance area. When the positioning data of the unmanned forklift is obtained, the distance between the unmanned forklift and the pedestrian avoidance area can be calculated. Specifically, the central control device can calculate the distance between the unmanned forklift and the pedestrian avoidance area by a method based on Euclidean distance, a method based on Manhattan distance, and an algorithm based on the shortest path (such as Dijkstra algorithm and A* algorithm).

[0064] 203、If the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold, the control device controls the signal lamp corresponding to the pedestrian avoidance area to display a first color.

[0065] The central control device can determine whether the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold. If the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold, the control device controls the signal lamp corresponding to the pedestrian avoidance area to display a first color, which is used to prompt the pedestrian to prohibit passing through the pedestrian avoidance area.

[0066] For example, the first color can be red, and the first distance threshold can be 1-3 meters, which is not limited in particular.

[0067] In an embodiment, the control device further performs the following steps: if the distance between the unmanned forklift and the pedestrian avoidance area is greater than or equal to the first distance threshold, the control device controls the signal lamp corresponding to the pedestrian avoidance area to display a second color, which is used to prompt the pedestrian to allow passing through the pedestrian avoidance area. For example, the second color can be green.

[0068] Alternatively, if the control device detects that the signal lamp displays the first color for a duration exceeding a duration threshold, the control device controls the signal lamp corresponding to the pedestrian avoidance area to display the second color.

[0069] Therefore, when the unmanned forklift leaves the pedestrian avoidance area, the control device can control the signal lamp to switch from the first color to the second color, so that the pedestrian can pass through the pedestrian avoidance area, ensuring the fluency of cooperation between the unmanned forklift and the staff in a human-machine mixed scene and improving work efficiency.

[0070] In an embodiment, the control device further performs the following steps: obtaining a planned route of the unmanned forklift, if the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold, determining the direction of travel of the unmanned forklift in the pedestrian avoidance area according to the planned route of the unmanned forklift, and controlling the signal lamp to display an indication mark corresponding to the direction of travel of the unmanned forklift. The indication mark can be an arrow or other marker, which is not limited in particular. Therefore, the pedestrian can determine whether the direction of travel of the unmanned forklift conflicts with his own direction of travel according to the indication mark displayed by the signal lamp. If there is a conflict, the pedestrian can make an avoidance; if there is no conflict, the pedestrian can continue to walk.

[0071] In an embodiment, the pedestrian avoidance area includes a plurality of branch roads for pedestrians to pass through, and the pedestrian avoidance area includes at least two groups of signal lamps. Each group of signal lamps is provided with a plurality of single-face signal lamps of different orientations, the number of single-face signal lamps in each group of signal lamps corresponds to the number of branch roads, and the orientations of the single-face signal lamps in the at least two groups of signal lamps cover the branch roads.

[0072] Please refer to Figure 3 ,Figure 3 is a schematic view of an arrangement of signal lights according to an embodiment of the present application. As shown in the figure, a pedestrian avoidance area includes a first pedestrian avoidance area 301 and a second pedestrian avoidance area 302. Figure 3

[0073] The first pedestrian avoidance area 301 is provided with two groups of signal lights, i.e., a first signal light group 3011 and a second signal light group 3012. The first pedestrian avoidance area 301 includes three branch roads, and therefore, the first signal light group 3011 and the second signal light group 3012 can respectively include three single-face signal lights of different orientations. The orientations of the single-face signal lights are shown by arrows in the figure. Figure 3

[0074] The second pedestrian avoidance area 302 is provided with two groups of signal lights, i.e., a third signal light group 3021 and a fourth signal light group 3022. The second pedestrian avoidance area 302 includes two branch roads, and therefore, the third signal light group 3021 and the fourth signal light group 3022 can respectively include two single-face signal lights of different orientations. The orientations of the single-face signal lights are shown by arrows in the figure. Figure 3

[0075] It can be seen that, in the embodiment of the present application, the signal lights are arranged in such a manner that pedestrians in each direction of the pedestrian avoidance area can timely observe the color displayed by the signal lights and timely avoid the unmanned forklift according to the indication of the signal lights, thereby improving the safety of the unmanned forklift and the staff.

[0076] 204. When the signal light displays the first color, the unmanned forklift is controlled to pass through the pedestrian avoidance area.

[0077] Optionally, if the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold, the central control device can further control the unmanned forklift to slow down when the signal light displays the first color, and control the signal light corresponding to the pedestrian avoidance area to display the first color, so that the unmanned forklift is controlled to pass through the pedestrian avoidance area at a low speed when the signal light displays the first color; or, if the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold, the central control device can further control the unmanned forklift to stop for a preset time period, and control the signal light corresponding to the pedestrian avoidance area to display the first color, so as to reserve sufficient time for the pedestrians to avoid when the signal light displays the first color, and after the preset time period ends, control the unmanned forklift to continue moving forward and pass through the pedestrian avoidance area, thereby further improving the safety of the operation.

[0078] ​​​The operation control method and device, the electronic device and the storage medium disclosed by the embodiments of the present application can obtain positioning data of the unmanned forklift during the operation of the unmanned forklift; determine the distance between the unmanned forklift and the pedestrian avoidance area according to the positioning data of the unmanned forklift; if the distance between the unmanned forklift and the pedestrian avoidance area is less than the first distance threshold, control the signal lamp corresponding to the pedestrian avoidance area to display the first color; the first color is used to prompt the pedestrian to prohibit passing through the pedestrian avoidance area; and control the unmanned forklift to pass through the pedestrian avoidance area when the signal lamp displays the first color. When the unmanned forklift is about to pass through the pedestrian avoidance area, the signal lamp corresponding to the pedestrian avoidance area is controlled to display the first color, so that the staff can avoid the unmanned forklift in time when seeing the signal lamp displaying the first color, and the risk of mutual interference and contact between the unmanned forklift and the staff is reduced, and the safety of the unmanned forklift and the staff is improved in the human-machine mixed scene.

[0079] As shown in Figure 4 Figure 4 is a flow diagram of another operation control method disclosed by the embodiments of the present application, which can be applied to the central control device in the application scenarios described above. The operation control method can include the following steps:

[0080] 401. In the operation process of the unmanned forklift, the positioning data of the unmanned forklift is obtained.

[0081] 402. According to the positioning data of the unmanned forklift, the distance between the unmanned forklift and the pedestrian avoidance area is determined.

[0082] In one embodiment, the pedestrian avoidance area includes a corner area; the unmanned forklift is provided with a sensing device and an audible and light alarm; the corner area is provided with an anti-collision tag, which is used for wireless communication with the sensing device; the anti-collision tag is used to return a response signal when receiving a wireless pulse signal sent by the sensing device of the unmanned forklift; the sensing device is used to calculate the distance between the sensing device and the anti-collision tag according to the time difference between sending the wireless pulse signal and receiving the response signal; and the audible and light alarm is used to send an alarm signal if the distance between the sensing device and the anti-collision tag is less than a second distance threshold.

[0083] Specifically, the sensing device can be an anti-collision base station, which can determine the distance between the anti-collision base station and the anti-collision tag by wireless pulse ranging.

[0084] The anti-collision tag can realize the identification and positioning of the unmanned forklift through wireless communication with the anti-collision base station, so as to prevent collision and conflict; the anti-collision tag can include a micro antenna, a chip and a battery, and can communicate with the anti-collision base station.

[0085] ​Specifically, the anti-collision base station can send a wireless pulse signal, and the anti-collision tag returns a response signal to the anti-collision base station when receiving the wireless pulse signal. The anti-collision base station can measure the time difference between the anti-collision base station sending the wireless pulse signal and receiving the response signal. Based on the assumption of constant speed, the distance between the anti-collision base station and the anti-collision tag can be calculated using the time difference. Specifically, the distance can be equal to the time difference multiplied by the speed of wireless pulse signal transmission.

[0086] The second distance threshold can be about 0.5 meters, and is not limited specifically.

[0087] The sound-light alarm emits an alarm signal when the distance between the inductive device and the anti-collision tag is less than the second distance threshold, so that the unmanned forklift can control the unmanned forklift to stop or turn in time when receiving the alarm signal.

[0088] The above steps can improve the safety of the unmanned forklift passing through the corner area, and improve the safety of the unmanned forklift operation.

[0089] In one embodiment, the unmanned forklift includes a fork, the length of the fork exceeds the length of the goods carried by the unmanned forklift; the fork tip of the fork is provided with an anti-collision sensor; the anti-collision sensor is used to detect the relative distance and direction of the unmanned forklift and the obstacle located in front of the unmanned forklift, so as to trigger the unmanned forklift to slow down or stop moving if it is determined that the relative distance of the obstacle is less than a third distance threshold, and adjust the pose of the unmanned forklift according to the relative distance and direction.

[0090] Specifically, the anti-collision sensor can be an infrared sensor, an ultrasonic sensor, a laser radar sensor, etc. For example, the infrared sensor can emit infrared rays. When the infrared rays hit the obstacle, part of the infrared rays will be absorbed or reflected back to the sensor. By measuring the intensity and time of the reflected or absorbed infrared rays, the distance and direction between the obstacle and the infrared sensor can be calculated. The ultrasonic sensor can emit ultrasonic waves. When the ultrasonic waves hit the obstacle, part of the ultrasonic waves will be absorbed or reflected back to the sensor. By measuring the intensity and time of the reflected or absorbed ultrasonic waves, the distance and direction between the obstacle and the sensor can be calculated. The laser radar sensor can scan the surrounding environment by emitting a laser beam, measure the time and intensity of the laser beam reflected back to the laser radar sensor, and generate an accurate environment map through these data to obtain the distance and direction between the obstacle and the laser radar sensor.

[0091] The third distance threshold can be about 0.5 meters, and is not limited specifically.

[0092] If the relative distance between the unmanned forklift and the obstacle is less than a third distance threshold, the unmanned forklift is controlled to decelerate or stop, and the pose of the unmanned forklift is adjusted according to the relative distance and the relative direction, for example, the unmanned forklift can move in a direction away from the obstacle.

[0093] 403. If the distance between the unmanned forklift and the pedestrian avoidance area is less than a first distance threshold, the signal lamp corresponding to the pedestrian avoidance area is controlled to display a first color.

[0094] The first color is used to prompt the pedestrian to prohibit passing through the pedestrian avoidance area.

[0095] The embodiments of steps 401-403 can refer to the above embodiments, and will not be repeated here.

[0096] 404. When the signal lamp displays the first color, a first image captured by the camera of the unmanned forklift is obtained.

[0097] The unmanned forklift is provided with a camera, and the first image captured by the camera of the unmanned forklift includes the pedestrian avoidance area. When the signal lamp displays the first color, the central control device obtains the first image captured by the camera of the unmanned forklift.

[0098] 405. If it is determined from the first image that there is a pedestrian in the pedestrian avoidance area, the unmanned forklift is controlled to stop, and until it is determined from the first image captured by the camera that there is no pedestrian in the pedestrian avoidance area, the unmanned forklift is controlled to pass through the pedestrian avoidance area.

[0099] If the central control device determines from the first image that there is a pedestrian in the pedestrian avoidance area, the unmanned forklift is controlled to stop, and until it is determined from the first image captured by the camera that there is no pedestrian in the pedestrian avoidance area, the unmanned forklift is controlled to pass through the pedestrian avoidance area.

[0100] The way in which the central control device identifies whether there is a pedestrian in the pedestrian avoidance area from the first image can be a deep learning algorithm such as a convolutional neural network (CNN), or a target recognition algorithm such as Faster R-CNN and YOLO, or an algorithm combining a histogram of oriented gradients (HOG) and a support vector machine (SVM), and is not limited in particular.

[0101] In the embodiments of the present application, when the unmanned forklift is about to pass or is passing through the pedestrian avoidance area, the central control device controls the signal lamp corresponding to the pedestrian avoidance area to display the first color, and only when it is determined from the first image sent by the unmanned forklift that there is no pedestrian in the pedestrian avoidance area, the unmanned forklift is controlled to pass through the pedestrian avoidance area, which can further ensure that there is no risk of mutual interference and contact between the unmanned forklift and the staff when the unmanned forklift passes through the pedestrian avoidance area, and improves the safety of the unmanned forklift and the staff in a human-machine mixed scene.

[0102] As Figure 5 shown, Figure 5 is a flowchart of another operation control method disclosed by the embodiments of the present application, which can be applied to the central control device in the above application scenarios. The operation control method can include the following steps:

[0103] 501. In the operation process of the unmanned forklift, positioning data of the unmanned forklift is acquired.

[0104] 502. According to the positioning data of the unmanned forklift, the distance between the unmanned forklift and the pedestrian avoidance area is determined.

[0105] 503. If the distance between the unmanned forklift and the pedestrian avoidance area is less than a first distance threshold, the signal lamp corresponding to the pedestrian avoidance area is controlled to display a first color.

[0106] The first color is used to prompt the pedestrian to prohibit passing through the pedestrian avoidance area.

[0107] 504. When the signal lamp displays the first color, the unmanned forklift is controlled to pass through the pedestrian avoidance area.

[0108] The implementation of steps 501-504 can refer to the above embodiments, and details are not repeated.

[0109] 505. The unmanned forklift is controlled to go to the outlet of the first conveying line, pick up an empty tray, and carry the empty tray from the outlet of the first conveying line to the inlet of the second conveying line, and go to the outlet of the second conveying line to pick up a full tray obtained by feeding the empty tray, and carry the full tray from the outlet of the second conveying line to the inlet of the third conveying line.

[0110] The first conveying line is used to convey empty trays; the second conveying line is used to feed empty trays to obtain full trays and convey full trays; and the third conveying line is used to convey full trays to the warehouse.

[0111] Please refer to Figure 6 , Figure 6 is a layout diagram of a conveying line disclosed by the embodiments of the present application.

[0112] The first conveying line 601 can be a conveying line specially providing empty trays. The unmanned forklift can pick up an empty tray from the first conveying line 601 and carry it to the inlet of the second conveying line 602.

[0113] It should be noted that the second conveying line 602 can include adjacent first sub-conveying line 6021 and second sub-conveying line 6022. The first sub-conveying line 6021 can be used to fill empty trays, such as feeding or loading empty trays to obtain full trays, and the second sub-conveying line 6022 can be used to convey full trays.

[0114] Therefore, the entrance of the second conveying line 602 can be the entrance of the first sub-conveying line 6021, and the exit of the second conveying line 602 can be the exit of the second sub-conveying line 6022.

[0115] The unmanned forklift can go to the exit of the second conveying line 602 to fork the full pallet obtained by loading the empty pallet, and carry the full pallet from the exit of the second conveying line 602 to the entrance of the third conveying line 603, which can be used to convey the full pallet to the warehouse.

[0116] In an embodiment, the unmanned forklift can directly take the full pallet from the manual packing area and carry the full pallet to the entrance of the third conveying line. The manual packing area is used for manually filling the empty pallet to obtain the full pallet. That is, the unmanned forklift can directly take the full pallet from the manual packing area without taking the full pallet from the exit of the second conveying line.

[0117] In an embodiment, the unmanned forklift can directly take the empty pallet from the empty pallet placement area and carry the empty pallet to the entrance of the second conveying line 602, then go to the exit of the second conveying line 602 to take the full pallet and carry the full pallet to the entrance of the third conveying line 603. That is, the unmanned forklift can directly take the empty pallet from the empty pallet placement area without taking the empty pallet from the first conveying line.

[0118] Therefore, by reasonably arranging multiple conveying lines, the orderliness of cargo carrying is improved, and the efficiency of cargo carrying by the unmanned forklift is improved.

[0119] In an embodiment, the unmanned forklift further comprises a detection device for detecting whether the exit of the first conveying line or the empty pallet placement area is placed with an empty pallet, or detecting whether the exit of the second conveying line or the manual packing area is placed with a full pallet, and detecting a placement offset between an actual placement pose of the empty pallet or the full pallet in the above-mentioned area and a preset placement pose; adjusting the pose of the unmanned forklift according to the placement offset, so as to correctly fork the empty pallet or the full pallet in the above-mentioned area; the detection device can be a laser sensor, a camera sensor, an ultrasonic sensor, etc., and is not limited in particular.

[0120] In the embodiment of the present application, when the unmanned forklift is about to pass through the pedestrian avoidance area, the signal lamp corresponding to the pedestrian avoidance area is controlled to display the first color, so that the staff can avoid the unmanned forklift in time when seeing the signal lamp display the first color, reducing the risk of mutual interference and contact between the unmanned forklift and the staff, and also reducing the situation that the unmanned forklift is frequently interrupted due to the frequent entry of the staff into the running channel of the unmanned forklift, improving the efficiency of the unmanned forklift carrying, and further improving the efficiency of the unmanned forklift carrying by reasonably arranging multiple conveying lines.

[0121] As Figure 7 shown, Figure 7 is a structural schematic diagram of a running control device disclosed by an embodiment of the present application. The running control device 700 comprises an acquisition module 710, a determination module 720, and a control module 730.

[0122] The acquisition module 710 is configured to acquire positioning data of the unmanned forklift during running of the unmanned forklift.

[0123] The determination module 720 is configured to determine a distance between the unmanned forklift and a pedestrian avoidance area according to the positioning data of the unmanned forklift.

[0124] The control module 730 is configured to control a signal lamp corresponding to the pedestrian avoidance area to display a first color if the distance between the unmanned forklift and the pedestrian avoidance area is less than a first distance threshold; the first color is used to prompt the pedestrian to prohibit passing through the pedestrian avoidance area.

[0125] The control module 730 is further configured to control the unmanned forklift to pass through the pedestrian avoidance area when the signal lamp displays the first color.

[0126] In an embodiment, the control module 730 is further configured to control the signal lamp corresponding to the pedestrian avoidance area to display a second color if the distance between the unmanned forklift and the pedestrian avoidance area is greater than or equal to the first distance threshold; the second color is used to prompt the pedestrian to allow passing through the pedestrian avoidance area.

[0127] In an embodiment, the pedestrian avoidance area comprises a corner area; the unmanned forklift is provided with a sensing device and an audible and light alarm; the corner area is provided with an anti-collision tag; the anti-collision tag is configured to perform wireless communication with the sensing device; the anti-collision tag is configured to return a response signal when receiving a wireless pulse signal sent by the sensing device of the unmanned forklift; the sensing device is configured to calculate a distance between the sensing device and the anti-collision tag according to a time difference between sending the wireless pulse signal and receiving the response signal; the audible and light alarm is configured to send an alarm signal if the distance between the sensing device and the anti-collision tag is less than a second distance threshold.

[0128] In an embodiment, the pedestrian avoidance area comprises a plurality of branch roads for the pedestrian to pass through; the pedestrian avoidance area comprises at least two groups of signal lamps; each group of signal lamps is provided with a plurality of single-face signal lamps with different orientations; the number of the single-face signal lamps in each group of signal lamps corresponds to the number of the branch roads; the orientations of the single-face signal lamps in the at least two groups of signal lamps cover the branch roads.

[0129] In one embodiment, the unmanned forklift is also equipped with a camera; the control module 730 is further configured to acquire a first image captured by the camera when the traffic light displays a first color; the first image includes a pedestrian avoidance area; if it is determined from the first image that there is a pedestrian in the pedestrian avoidance area, the unmanned forklift is controlled to stop until it is determined from the first image captured by the camera that there is no pedestrian in the pedestrian avoidance area, then the unmanned forklift is controlled to pass through the pedestrian avoidance area.

[0130] In one embodiment, the unmanned forklift includes forks, the length of which exceeds the length of the goods being transported by the unmanned forklift; the tips of the forks are equipped with anti-collision sensors; the anti-collision sensors are used to detect the relative distance and relative direction between the unmanned forklift and an obstacle located in front of the unmanned forklift; the unmanned forklift is used to control the unmanned forklift to decelerate or stop if the relative distance between the unmanned forklift and the obstacle is less than a third distance threshold, and to adjust the posture of the unmanned forklift according to the relative distance and relative direction.

[0131] In one embodiment, the control module 730 is further configured to control the unmanned forklift to proceed to the exit of the first conveyor line, pick up an empty pallet, transport the empty pallet from the exit of the first conveyor line to the entrance of the second conveyor line, proceed to the exit of the second conveyor line to pick up a full pallet obtained by loading the empty pallet, and transport the full pallet from the exit of the second conveyor line to the entrance of the third conveyor line; the first conveyor line is used to transport empty pallets; the second conveyor line is used to load empty pallets to obtain a full pallet and transport the full pallet; and the third conveyor line is used to transport the full pallet to the warehouse.

[0132] The operation control method, device, electronic device, and storage medium disclosed in this application discloses the following: During the operation of an unmanned forklift, its positioning data is acquired; based on the positioning data, the distance between the unmanned forklift and a pedestrian avoidance zone is determined; if the distance between the unmanned forklift and the pedestrian avoidance zone is less than a first distance threshold, the traffic light corresponding to the pedestrian avoidance zone is controlled to display a first color; the first color is used to remind pedestrians not to pass through the pedestrian avoidance zone; when the traffic light displays the first color, the unmanned forklift is controlled to pass through the pedestrian avoidance zone. This application embodiment controls the traffic light corresponding to the pedestrian avoidance zone to display a first color when the unmanned forklift is about to or is passing through the pedestrian avoidance zone, so that workers can avoid the unmanned forklift in time when they see the traffic light displaying the first color, reducing the risk of mutual interference and contact between the unmanned forklift and workers, and improving the safety of both the unmanned forklift and workers in human-machine hybrid scenarios.

[0133] like Figure 8 As shown, in one embodiment, an electronic device is provided, which may include:

[0134] Memory 810 storing executable program code;

[0135] The processor 820 is coupled with the memory 810.

[0136] The processor 820 invokes the executable program code stored in the memory 810 to implement the running control method provided in each of the above embodiments.

[0137] The memory 810 can include a Random Access Memory (RAM) and can also include a Read-Only Memory (ROM). The memory 810 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 810 can include a program storage area and a data storage area, where the program storage area can store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playing function, an image playing function, etc.), instructions for implementing each of the above methods, etc. The data storage area can also store data created by the electronic device in use, etc.

[0138] The processor 820 can include one or more processing cores. The processor 820 connects various parts within the entire electronic device through various interfaces and lines, executes various functions of the electronic device and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 810, and invoking data stored in the memory 810. Alternatively, the processor 820 can be implemented in at least one of a hardware form of a Digital Signal Processing (DSP), a Field-Programmable Gate Array (FPGA), a Programmable Logic Array (PLA). The processor 820 can integrate a combination of one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU) and a modem, etc. Among them, the CPU mainly processes an operating system, a user interface and an application program, etc.; the GPU is responsible for rendering and drawing display content; and the modem is used for processing wireless communication. It can be understood that the above-mentioned modem can also not be integrated into the processor 820, but can be implemented by a separate communication chip.

[0139] It can be understood that the electronic device can include more or less structural elements than those in the above structural block diagram, for example, including a power module, a physical key, a WiFi (Wireless Fidelity) module, a speaker, a Bluetooth module, a sensor, etc., which are not limited herein.

[0140] The embodiments of the present application disclose a computer readable storage medium storing a computer program, wherein the computer program causes a computer to execute the method described in the above embodiments.

[0141] In addition, the embodiments of the present application further disclose a computer program product, which, when running on a computer, causes the computer to execute all or part of steps in any one of the operation control methods described in the above embodiments.

[0142] A person of ordinary skill in the art can understand that all or part of the steps in the above embodiments can be instructed by a program to relevant hardware, and the program can be stored in a computer readable storage medium, including a Read-Only Memory (ROM), a Random Access Memory (RAM), a Programmable Read-Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), a One-time Programmable Read-Only Memory (OTPROM), an Electrically-Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM), or other optical disk memories, magnetic disk memories, magnetic tape memories, or any other medium capable of carrying or storing data which can be read by a computer.

[0143] The operation control method, device, electronic equipment and storage medium disclosed by the embodiments of the present application are described in detail above, and the principles and implementation manners of the present application are described by applying specific examples in the present article; the above embodiment descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for a person of ordinary skill in the art, according to the idea of the present application, the specific implementation manners and application ranges can be changed, and the above descriptions should not be understood as limitations on the present application.

Claims

1. A method of operation control characterized by, The method comprises: During the operation of the unmanned forklift, positioning data of the unmanned forklift is acquired; According to the positioning data of the unmanned forklift, the distance between the unmanned forklift and the pedestrian avoidance area is determined; If the distance between the unmanned forklift and the pedestrian avoidance area is less than a first distance threshold, the signal lamp corresponding to the pedestrian avoidance area is controlled to display a first color; the first color is used to prompt pedestrians to prohibit passing through the pedestrian avoidance area; When the signal lamp displays the first color, the unmanned forklift is controlled to pass through the pedestrian avoidance area; The unmanned forklift is also provided with a camera; the control of the unmanned forklift to pass through the pedestrian avoidance area when the signal lamp displays the first color comprises: When the signal lamp displays the first color, a first image collected by the camera is acquired; the first image includes the pedestrian avoidance area; If it is determined according to the first image that there are pedestrians in the pedestrian avoidance area, the unmanned forklift is controlled to stop, and when it is determined according to the first image collected by the camera that there are no pedestrians in the pedestrian avoidance area, the unmanned forklift is controlled to pass through the pedestrian avoidance area.

2. The operation control method according to claim 1, characterized by, The method further comprises: If the distance between the unmanned forklift and the pedestrian avoidance area is greater than or equal to the first distance threshold, the signal lamp corresponding to the pedestrian avoidance area is controlled to display a second color; the second color is used to prompt pedestrians to allow passing through the pedestrian avoidance area.

3. The operation control method according to claim 1, characterized by, The pedestrian avoidance area includes a corner area; the unmanned forklift is provided with a sensing device and an audible and visual alarm; the corner area is provided with an anti-collision tag, and the anti-collision tag is used for wireless communication with the sensing device; wherein The anti-collision tag is used for returning a response signal when receiving a wireless pulse signal sent by the sensing device of the unmanned forklift; The sensing device is used for calculating the distance between the sensing device and the anti-collision tag according to the time difference between sending the wireless pulse signal and receiving the response signal; The audible and visual alarm is used for sending an alarm signal if the distance between the sensing device and the anti-collision tag is less than a second distance threshold.

4. The operation control method according to claim 1, characterized by The pedestrian avoidance area includes a plurality of branch roads for pedestrians to pass through; the pedestrian avoidance area includes at least two groups of signal lamps, each group of signal lamps is provided with a plurality of single-face signal lamps with different orientations, the number of single-face signal lamps in each group of signal lamps corresponds to the number of branch roads, and the orientation of each single-face signal lamp in the at least two groups of signal lamps covers each branch road.

5. The operation control method according to claim 1, characterized by The unmanned forklift includes a fork, the length of the fork exceeds the length of the goods carried by the unmanned forklift; the prongs of the fork are provided with anti-collision sensors; wherein The anti-collision sensors are used for detecting the relative distance and the relative direction between the unmanned forklift and the obstacle located in front of the unmanned forklift, so as to trigger the unmanned forklift to slow down or stop moving if it is determined that the relative distance of the obstacle is less than a third distance threshold, and adjust the pose of the unmanned forklift according to the relative distance and the relative direction.

6. The operation control method according to claim 1, characterized by The method further comprises: controlling the unmanned forklift to go to an outlet of a first conveying line, pick up an empty tray, carry the empty tray from the outlet of the first conveying line to an inlet of a second conveying line, and go to an outlet of the second conveying line to pick up a full tray obtained by loading the empty tray, and carry the full tray from the outlet of the second conveying line to an inlet of a third conveying line; the first conveying line is used for conveying empty trays; the second conveying line is used for loading the empty trays to obtain full trays and conveying the full trays; and the third conveying line is used for conveying the full trays to a warehouse.

7. A running control device characterized by comprising: The operation control device comprises: an acquisition module configured to acquire positioning data of the unmanned forklift during operation of the unmanned forklift; a determination module configured to determine a distance between the unmanned forklift and a pedestrian avoidance area according to the positioning data of the unmanned forklift; a control module configured to control a signal lamp corresponding to the pedestrian avoidance area to display a first color if the distance between the unmanned forklift and the pedestrian avoidance area is less than a first distance threshold; the first color is used to prompt pedestrians to prohibit passing through the pedestrian avoidance area; the control module is further configured to control the unmanned forklift to pass through the pedestrian avoidance area when the signal lamp displays the first color; the control module is specifically configured to control the unmanned forklift to pass through the pedestrian avoidance area when the signal lamp displays the first color, comprising: acquiring a first image collected by a camera of the unmanned forklift when the signal lamp displays the first color; the first image includes the pedestrian avoidance area; if it is determined according to the first image that there is a pedestrian in the pedestrian avoidance area, controlling the unmanned forklift to stop until it is determined according to a first image collected by the camera that there is no pedestrian in the pedestrian avoidance area, and then controlling the unmanned forklift to pass through the pedestrian avoidance area.

8. An electronic device, comprising: comprise: a memory storing executable program codes; a processor coupled with the memory; the processor invokes the executable program codes stored in the memory to execute the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, wherein the computer program, when executed by the processor, causes the processor to execute the method of any one of claims 1 to 6. The computer readable storage medium stores a computer program, wherein the computer program, when executed by the processor, causes the processor to execute the method of any one of claims 1 to 6.

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