Dock docking block placing method, forklift dispatching system, forklift and system

Abstract

The invention provides a dock docking block placing method, a forklift dispatching system, a forklift and a system.The forklift dispatching system determines docking block placing information according to a docking block arrangement diagram input by a user and generates a docking block placing task according to the docking block placing information, and the docking block placing task refers to moving a docking block to a target position; determining a target path according to the docking block placement task and the dock environment information, wherein the target path refers to a path that a forklift moves from the current position of the forklift to the current position of a docking block and then moves to the target position; sending a task execution instruction to a forklift to enable the forklift to execute the docking block placement task along a target path; the arrangement position and the optimal path of the dock docking block are automatically calculated at a time, the arrangement precision and efficiency are improved, manual intervention is reduced, and the dock period is shortened.

Description

Technical Field

[0001] The invention belongs to the technical field of ships, and in particular relates to a dock pier placement method, a forklift dispatching system, a forklift and a system. Background Art

[0002] With the rapid development of shipping, ship types are becoming more diversified. Ships of different types and sizes need to be maintained, repaired, and loaded and unloaded at the dock. In order to effectively maintain and operate various ships, the placement of dock piers has become crucial.

[0003] The traditional dock placement method usually adopts the longitudinal line positioning method. The specific method is: according to the "dock layout diagram", two people draw the positioning line longitudinally, and then one person draws a cross positioning line as the positioning of the center point of the bottom surface of the dock according to the longitudinal rib spacing size, that is, one dock positioning point is determined at a time; then the forklift driver places the dock. Since the cross positioning line is located at the bottom of the dock, the forklift driver cannot see the cross positioning line when placing the dock. The person who draws the cross positioning line needs to direct the forklift driver to adjust the spatial direction and position of the dock so that the bottom center point of the dock is aligned with the intersection of the drawn cross positioning line and then drop the dock, which is the case for both the keel pier and the side pier. At the same time, most of the existing methods adopt the method of drawing a dock positioning point and placing a dock.

[0004] However, the above-mentioned longitudinal wire positioning method requires more manual input, has low placement accuracy and efficiency, and a long dock use period. Summary of the invention

[0005] In a first aspect, an embodiment of the present invention provides a method for placing dock piers at a dock, which is applied to a forklift dispatching system, the method comprising: determining dock placement information based on a dock layout diagram input by a user, and generating a dock placement task based on the dock placement information, the dock placement task referring to moving the dock to a target position; determining a target path based on the dock placement task and dock environment information, the target path referring to a path for a forklift to move from a current position of the forklift to a current position of the dock, and then to the target position; sending a task execution instruction to the forklift, so that the forklift performs the dock placement task along the target path.

[0006] In some embodiments, each dock has a corresponding dock identifier; the above-mentioned determining the dock placement information according to the dock layout diagram input by the user, and generating the dock placement task according to the above-mentioned dock placement information, includes: determining the dock identifiers and corresponding target positions to be placed according to the dock layout diagram input by the user, and generating the dock placement task according to the dock identifiers and target positions to be placed; the above-mentioned sending a task execution instruction to a forklift so that the above-mentioned forklift executes the above-mentioned dock placement task along the target path, includes: sending a task execution command to the forklift so that the above-mentioned forklift moves to the current position of the dock along the target path, identifies the dock with the corresponding dock identifier and grabs it, and moves the grabbed dock to the corresponding target position.

[0007] In some embodiments, the method further includes: determining dock placement requirement information based on a dock layout diagram input by a user; sending the dock placement information to a forklift so that the forklift moves the grabbed dock to a corresponding target position and then places the dock in accordance with the dock placement requirement information.

[0008] In a second aspect, an embodiment of the present invention provides a method for placing dock piers at a dock, which is applied to a forklift, and the method includes: receiving a task execution instruction sent by a forklift scheduling system; in response to the task execution instruction, executing the dock placement task along a target path; wherein the dock placement task refers to moving the dock to a target position, and the forklift scheduling system determines the dock placement information according to a dock layout diagram input by a user, and generates the dock placement information according to the dock placement information; the target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock, and then to the target position, which is determined by the forklift scheduling system according to the dock placement task and the dock environment information.

[0009] In some embodiments, each dock has a corresponding dock identification, and the above-mentioned dock placement task refers to moving the dock with the corresponding dock identification to the corresponding target position; then the above-mentioned execution of the dock placement task along the target path includes: after moving along the above-mentioned target path to the current position of the dock, identifying the dock with the corresponding dock identification and grabbing it, and moving the grabbed dock to the corresponding target position.

[0010] In some embodiments, the method further includes: receiving dock placement requirement information sent by a forklift dispatching system; and placing the dock according to the dock placement requirement information after the forklift moves the grabbed dock to a corresponding target position.

[0011] In some embodiments, when the forklift moves along the target path, a corresponding obstacle avoidance strategy is implemented according to the road conditions ahead of the forklift; wherein the above-mentioned obstacle avoidance strategy includes at least one of the following: when there is an obstacle in the forward direction of the forklift, a warning prompt is issued; when there is an obstacle within a first preset range in the forward direction of the forklift, the forklift stops moving and issues a warning prompt or turns; when there is an obstacle within a second preset range in the forward direction of the forklift, the forklift slows down and issues a warning prompt; when the path width in the forward direction of the forklift is greater than the first preset value and there is an obstacle, the forklift moves around the obstacle; when the path width in the forward direction of the forklift is less than the second preset value and there is an obstacle, the forklift stops moving and issues a warning prompt.

[0012] The third invention, an embodiment of the present invention provides a forklift dispatching system, including: a task generation module, used to determine the dock placement information according to the dock layout diagram input by the user, and generate the dock placement task according to the above dock placement information, the above dock placement task refers to moving the dock to the target position; a navigation and positioning module, used to determine the target path according to the above dock placement task and the dock environment information, the above target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock, and then to the above target position; an instruction sending module, used to send a task execution instruction to the forklift, so that the forklift performs the above dock placement task along the target path.

[0013] In a fourth aspect, an embodiment of the present invention provides a forklift, comprising: an instruction receiving module, used to receive a task execution instruction sent by a forklift scheduling system; a task execution module, used to respond to the above-mentioned task execution instruction and execute the dock placement task along the target path; wherein the above-mentioned dock placement task refers to moving the dock to the target position, and the forklift scheduling system determines the dock placement information according to the dock layout diagram input by the user, and generates it according to the above-mentioned dock placement information; the above-mentioned target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock, and then to the above-mentioned target position, which is determined by the forklift scheduling system according to the dock placement task and the dock environment information.

[0014] In a fifth aspect, an embodiment of the present invention provides a dock pier placement system, comprising a forklift dispatching system and a forklift, wherein the forklift dispatching system is used to implement the dock pier placement method as described in any one of the first aspect, and the forklift is used to implement the dock pier placement method as described in any one of the second aspect.

[0015] The beneficial effects brought by the present invention are as follows:

[0016] It can be seen from the above scheme that the embodiments of the present invention provide a dock pier placement method, a forklift dispatching system, a forklift and a system. The forklift dispatching system determines the dock pier placement information according to the dock pier layout diagram input by the user, and generates a dock pier placement task according to the above dock pier placement information, and the above dock pier placement task refers to moving the dock pier to the target position; determines the target path according to the above dock pier placement task and the dock environment information, and the above target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock pier, and then to the above target position; sends a task execution instruction to the forklift, so that the above forklift performs the above dock pier placement task along the target path; realizes that the placement position and the optimal path of the dock pier are automatically calculated at one time, improves the placement accuracy and efficiency, reduces manual intervention, and saves dock time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of a system architecture provided by an embodiment of the present invention;

[0018] Figure 2 An interactive flow chart of a dock pier placement method provided by an embodiment of the present invention;

[0019] Figure 3 A dock layout diagram provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a dock placement task after completion provided by an embodiment of the present invention;

[0021] Figure 5 An interactive flow chart of another method for placing dock piers provided in an embodiment of the present invention;

[0022] Figure 6 A schematic diagram of a dock structure provided by an embodiment of the present invention;

[0023] Figure 7 An interactive flow chart of another dock pier placement method provided by an embodiment of the present invention;

[0024] Figure 8 A schematic diagram of a process of placing a dock pier provided by an embodiment of the present invention;

[0025] Fig. 9 A schematic flow chart of another method for placing dock piers provided in an embodiment of the present invention;

[0026] Fig.10 A schematic diagram of the structure of a forklift dispatching system provided by an embodiment of the present invention;

[0027] Fig.11 A schematic structural diagram of a forklift provided by an embodiment of the present invention;

[0028] Fig.12 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0029] Among them, 101-dock; 102-dock pier; 1021-fork hole. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0031] Figure 1 A schematic diagram of a system architecture provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the system includes a forklift dispatching system and at least one forklift ( Figure 1 Taking three forklifts as an example), the forklift dispatching system includes a server and a human-computer interaction interface, which are used to control the forklift to automatically grab, move and accurately place the dock pier. The forklift is an unmanned forklift; 5G signals are used to transmit instructions and information between the forklift dispatching system and the forklift.

[0032] Figure 2 An interactive flow chart of a dock pier placement method provided by an embodiment of the present invention is applied to Figure 1 Forklift dispatching system and forklift. Figure 2 As shown, the dock pier placement method includes:

[0033] Step S201: The forklift dispatching system determines dock placement information according to the dock layout diagram input by the user, and generates a dock placement task according to the dock placement information. The dock placement task is to move the dock to a target position.

[0034] Figure 3 A dock layout diagram provided in an embodiment of the present invention has a unique dock layout for each type of ship. Figure 3 The dock layout diagram shown is input into the forklift dispatching system through the human-computer interaction interface. The forklift dispatching system can extract the dock placement information from the dock layout diagram, such as which docks are to be transported, the target location to be transported, etc.; the forklift dispatching system generates a dock placement task for each dock based on the extracted dock placement information, that is, placing the dock at the corresponding target location.

[0035] Step S202: the forklift dispatching system determines a target path according to the dock placement task and the dock environment information. The target path refers to a path for the forklift to move from the current position of the forklift to the current position of the dock and then to the target position.

[0036] Specifically, after the forklift dispatching system generates the dock placement task, it will sense the dock environment information, which mainly includes the current position of the dock on the dock, the current position of the forklift, and the overall road conditions on the dock; the forklift dispatching system is integrated with advanced navigation algorithms, which will plan the optimal path based on the dock placement task (i.e. moving the dock to the target position), the current position of the dock, the current position of the forklift, and the overall road conditions on the dock. The optimal path is the path with the shortest distance and no obstacles from the current position of the forklift to the current position of the dock and then to the target position.

[0037] Furthermore, the forklift dispatching system generates a plurality of dock placement tasks, and then generates a plurality of task execution instructions, which can be sent to a plurality of forklifts on the dock so that the plurality of forklifts can operate simultaneously to improve the dock placement efficiency.

[0038] In addition, it should be noted that there are many ways for the forklift dispatching system to perceive the dock environment information, such as setting up multiple cameras on the dock. These multiple cameras can collect dock pictures or videos in real time and upload them to the forklift dispatching system. The forklift dispatching system can perceive the dock environment information from the dock pictures or videos; or, a positioning module is set on each dock pier, which can upload the current position to the forklift dispatching system in real time, and a camera is set on the dock, which is used to collect the overall road conditions of the dock, etc.

[0039] Step S203: The forklift dispatching system sends a task execution instruction to the forklift.

[0040] Correspondingly, on the forklift side, the task execution instruction sent by the forklift dispatching system is received.

[0041] Specifically, after the forklift dispatching system generates the dock placement task and plans the corresponding target path, it includes the dock placement task and the target path in the task execution instruction and sends it to the forklift.

[0042] Step S204: The forklift performs the dock placement task along the target path in response to the task execution instruction.

[0043] Specifically, after the forklift receives the task execution instruction, it first moves to the current position of the dock along the target path, grabs the dock through mechanical devices such as lifting and clamping, and continues to move to the target position along the target path to place the dock. Figure 4This is a schematic diagram of a dock placement task after the implementation of the present invention, each dock 102 moves to a corresponding target position, and the ship can enter the dock 101 for maintenance, loading and unloading and other operations.

[0044] Optionally, after the forklift completes the dock placement task, it will send a task completion signal to the forklift dispatching system and can feedback corresponding execution data (such as forklift, dock, target path, time, etc.). The forklift dispatching system confirms and records the task based on the execution data for subsequent management and analysis.

[0045] The dock pier placement method provided by the present embodiment comprises the following steps: a forklift dispatching system determines the dock pier placement information according to the dock pier layout diagram input by the user, and generates a dock pier placement task according to the dock pier placement information, wherein the dock pier placement task refers to moving the dock pier to the target position; a target path is determined according to the dock pier placement task and the dock environment information, wherein the target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock pier and then to the target position; a task execution instruction is sent to the forklift, and the forklift executes the dock pier placement task along the target path in response to the task execution instruction; the placement position and the optimal path of the dock pier are automatically calculated at one time, thereby improving the placement accuracy and efficiency, reducing manual intervention, and saving dock time.

[0046] Based on the above embodiments, Figure 5 This is an interactive flow chart of another dock pier placement method provided by an embodiment of the present invention. In this embodiment, each dock pier has a corresponding dock pier identifier. Figure 5 As shown, the dock pier placement method includes the following steps:

[0047] Step S501: The forklift dispatching system determines the dock identifications and corresponding target positions to be placed according to the dock layout diagram input by the user, and generates dock placement tasks according to the dock identifications and target positions to be placed.

[0048] Step S502: the forklift dispatching system determines a target path according to the dock placement task and the dock environment information. The target path refers to a path for the forklift to move from the current position of the forklift to the current position of the dock and then to the target position.

[0049] Step S503: The forklift dispatching system sends a task execution instruction to the forklift.

[0050] Step S504: the forklift responds to the task execution instruction, moves to the current position of the dock along the target path, identifies and grabs the dock with the corresponding dock identifier, and moves the grabbed dock to the corresponding target position.

[0051] It should be noted that the implementation of steps S502 and S503 in this embodiment is similar to the implementation of steps S202 and S203 in the aforementioned embodiment, and will not be repeated here.

[0052] The difference from the previous embodiment is that this embodiment further defines the specific content of the dock pier placement information. In this embodiment, each dock pier has a corresponding dock pier identifier; the dock pier identifier and the corresponding target position to be placed are determined according to the dock pier layout diagram input by the user, and a dock pier placement task is generated according to the dock pier identifier and the target position to be placed; the forklift responds to the above task execution instruction, moves to the current position of the dock pier along the above target path, identifies the dock pier with the corresponding dock pier identifier and grabs it, and moves the grabbed dock pier to the corresponding target position.

[0053] Specifically, the current location of the dock may be a dock storage point, that is, many docks are stored in the dock storage point. Each dock can be uniquely identified (number, QR code, color, shape, etc.), and each dock identification can be uploaded to the forklift dispatching system; the visual recognition system is deployed on the forklift to process and analyze the scanned image. The user inputs the dock layout diagram to the forklift dispatching system, and the forklift dispatching system extracts the dock identification and target position to be placed from the dock layout diagram, and generates a dock placement task to move the dock with the corresponding dock identification to the corresponding target position; after the forklift dispatching system plans the optimal path according to the dock placement task and the dock environment information, it sends a task execution instruction to the forklift. The forklift first moves to the dock storage point along the target path, processes and analyzes the scanned image based on the visual recognition system, identifies the dock with the corresponding dock identification, and then automatically grabs it and moves it to the target position for dock placement.

[0054] Furthermore, in addition to marking each dock 102, the type of each dock 102 (such as structural form, weight, specification, size of the fork hole 1021), etc. can also be sorted out, such as Figure 6 A schematic diagram of a dock structure provided in an embodiment of the present invention, different types of docks 102 require different types of forklifts to move; the one-to-one correspondence between the dock identifier, dock type, and forklift type matching the dock type is stored in a forklift dispatching system. After the user inputs the dock layout diagram to the forklift dispatching system, the forklift dispatching system can extract the dock identifier, dock type, and target position to be placed, and then when planning the target path, the target path of the forklift matching the dock type is also planned; the forklift dispatching system sends a task execution instruction to the forklift matching the dock type, so that the forklift matching the dock type performs the dock placement task.

[0055] On the basis of the foregoing embodiments, each dock has a corresponding dock identification; the dock identification and the corresponding target position to be placed are determined according to the dock layout diagram input by the user, and a dock placement task is generated according to the dock identification and the target position to be placed; the forklift responds to the above task execution instruction, moves along the above target path to the current position of the dock, identifies the dock with the corresponding dock identification and grabs it, and moves the grabbed dock to the corresponding target position; it is possible to accurately identify the corresponding dock from multiple docks at the dock storage point.

[0056] Based on the above embodiments, Figure 7 The following is an interactive flow chart of another dock pier placement method provided by an embodiment of the present invention. Figure 7 As shown, the dock pier placement method includes the following steps:

[0057] Step S701: The forklift dispatching system determines the dock identifications, corresponding target positions and dock placement requirement information to be placed according to the dock layout diagram input by the user, and generates dock placement tasks according to the dock identifications and target positions to be placed.

[0058] Step S702: the forklift dispatching system determines a target path according to the dock placement task and the dock environment information. The target path refers to a path for the forklift to move from the current position of the forklift to the current position of the dock and then to the target position.

[0059] Step S703: the forklift dispatching system sends a task execution instruction and dock placement information to the forklift.

[0060] Step S704: the forklift responds to the task execution instruction, moves to the current position of the dock along the target path, identifies and grabs the dock with the corresponding dock identifier, and moves the grabbed dock to the corresponding target position.

[0061] Step S705: The forklift places the dock according to the above dock placement requirement information.

[0062] It should be noted that the implementation of steps S702 and S704 in this embodiment is similar to the implementation of steps S502 and S504 in the aforementioned embodiment, and will not be repeated here.

[0063] The difference from the previous embodiment is that, in order to further improve the dock placement accuracy, in this embodiment, the dock placement requirement information is determined based on the dock layout diagram input by the user; the dock placement information is sent to the forklift; and after the forklift moves the grabbed dock to the corresponding target position, the dock is placed according to the dock placement requirement information.

[0064] Specifically, the dock placement requirements mainly include the dock placement angle (e.g. horizontal placement, vertical placement), placement position, etc. The forklift is equipped with many sensors and advanced navigation algorithms, such as 3D Simultaneous Localization and Mapping (3D-SLAM), which can achieve accurate placement of the dock according to the dock placement requirements.

[0065] On the basis of the foregoing embodiments, the dock placement requirement information is determined according to the dock layout diagram input by the user; the dock placement information is sent to a forklift; the forklift moves the grabbed dock to the corresponding target position and then places the dock in accordance with the dock placement requirement information; precise control of the position, angle and stability of the dock is achieved, and the dock is ensured to be placed neatly and stably.

[0066] Figure 8 A schematic flow chart of a dock pier placement method provided in an embodiment of the present invention is applied to a forklift dispatching system. The method includes:

[0067] Step S1201: determining dock placement information according to the dock layout diagram input by the user, and generating a dock placement task according to the dock placement information, wherein the dock placement task is to move the dock to a target position.

[0068] Step S1202: determining a target path according to the dock placement task and the dock environment information, wherein the target path refers to a path for the forklift to move from the current position of the forklift to the current position of the dock and then to the target position.

[0069] Step S1203: sending a task execution instruction to the forklift, so that the forklift performs the dock placement task along the target path.

[0070] In some embodiments, each dock has a corresponding dock identifier; then step S1201 includes: determining the dock identifier and the corresponding target position to be placed according to the dock layout diagram input by the user, and generating a dock placement task according to the dock identifier and the target position to be placed; then step S1203 includes: sending a task execution command to a forklift so that the forklift moves along the target path to the current position of the dock, identifies the dock with the corresponding dock identifier and grabs it, and moves the grabbed dock to the corresponding target position.

[0071] In some embodiments, the method further includes: determining dock placement requirement information based on a dock layout diagram input by a user; sending the dock placement information to a forklift so that the forklift moves the grabbed dock to a corresponding target position and then places the dock in accordance with the dock placement requirement information.

[0072] The specific working process and corresponding beneficial effects of the dock pier placement method applied to the forklift dispatching system provided in this embodiment can refer to the corresponding process in the aforementioned method example, and will not be repeated here.

[0073] Fig. 9 A schematic flow chart of another method for placing dock piers provided in an embodiment of the present invention, which is applied to a forklift, includes:

[0074] Step S901: receiving a task execution instruction sent by a forklift dispatching system.

[0075] Step S902: In response to the above task execution instruction, the dock placement task is executed along the target path.

[0076] Among them, the above-mentioned dock placement task refers to moving the dock to the target position, and the forklift dispatching system determines the dock placement information according to the dock layout diagram input by the user, and is generated according to the above-mentioned dock placement information; the above-mentioned target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock, and then to the above-mentioned target position, which is determined by the forklift dispatching system according to the dock placement task and the dock environment information.

[0077] In some embodiments, each dock has a corresponding dock identification, and the above-mentioned dock placement task refers to moving the dock with the corresponding dock identification to the corresponding target position; then step S902 includes: after moving to the current position of the dock along the above-mentioned target path, identifying the dock with the corresponding dock identification and grabbing it, and moving the grabbed dock to the corresponding target position.

[0078] In some embodiments, the method further includes: receiving dock placement requirement information sent by a forklift dispatching system; and placing the dock according to the dock placement requirement information after the forklift moves the grabbed dock to a corresponding target position.

[0079] In some embodiments, when the forklift moves along the target path, a corresponding obstacle avoidance strategy is implemented according to the road conditions ahead of the forklift; wherein the above-mentioned obstacle avoidance strategy includes at least one of the following: when there is an obstacle in the forward direction of the forklift, a warning prompt is issued; when there is an obstacle within a first preset range in the forward direction of the forklift, the forklift stops moving and issues a warning prompt or turns; when there is an obstacle within a second preset range in the forward direction of the forklift, the forklift slows down and issues a warning prompt; when the path width in the forward direction of the forklift is greater than the first preset value and there is an obstacle, the forklift moves around the obstacle; when the path width in the forward direction of the forklift is less than the second preset value and there is an obstacle, the forklift stops moving and issues a warning prompt.

[0080] Specifically, when the forklift moves along the target path, sensors such as cameras are also installed on the forklift to monitor the road conditions of the forklift in real time to avoid collisions with obstacles. Specific obstacle avoidance strategies may include the following: when an obstacle is detected in the direction of the forklift, a voice prompt, a yellow light, and other alarms will be issued, and the forklift will also slow down. Alternatively, a safety distance or obstacle stop distance is set, such as the obstacle stop distance is within 0.8m in front of the forklift, and the safety distance is within 0.8m-2m in front of the forklift. If an obstacle is detected within the obstacle stop distance, the forklift stops and issues an early warning or turns. If an obstacle is detected within the safety distance, it can slow down and issue an early warning. Alternatively, if the forklift is traveling on a wide road, it can perform intelligent obstacle bypassing. Through laser and visual perception sensors, it can follow the vehicle, overtake the slow vehicle, bypass the stopped vehicle, and other actions in the passable area. If it is traveling on a narrow passage, the obstacle stop strategy can be implemented, the abnormal state can be reported to the forklift dispatching system, and it can stop in place and wait for the staff to handle it, etc.; the driving safety of the unmanned forklift is improved.

[0081] The specific working process and corresponding beneficial effects of the dock pier placement method applied to a forklift provided in this embodiment can refer to the corresponding process in the aforementioned method example, and will not be described in detail here.

[0082] Fig.10 A schematic diagram of the structure of a forklift dispatching system provided by an embodiment of the present invention is shown in FIG. Fig.10 As shown, the forklift dispatching system includes:

[0083] The task generation module 1001 is used to determine the dock placement information according to the dock layout diagram input by the user, and generate the dock placement task according to the above dock placement information, and the above dock placement task refers to moving the dock to the target position; the navigation and positioning module 1002 is used to determine the target path according to the above dock placement task and the dock environment information, and the above target path refers to the path for the forklift to move from the current position of the forklift to the current position of the dock, and then to the above target position; the instruction sending module 1003 is used to send the task execution instruction to the forklift, so that the forklift performs the above dock placement task along the target path.

[0084] In some embodiments, each dock has a corresponding dock identifier; the task generation module 1001 is specifically used to: determine the dock identifier and the corresponding target position to be placed according to the dock layout diagram input by the user, and generate a dock placement task according to the dock identifier and the target position to be placed; the instruction sending module 1003 is specifically used to: send a task execution command to the forklift, so that the forklift moves along the target path to the current position of the dock, identifies the dock with the corresponding dock identifier and grabs it, and moves the grabbed dock to the corresponding target position.

[0085] In some embodiments, the task generation module 1001 is also used to: determine the dock placement requirement information based on the dock layout diagram input by the user; the above-mentioned instruction sending module 1003 is specifically used to: send the dock placement information to the forklift, so that the above-mentioned forklift will move the grabbed dock to the corresponding target position, and then place the dock according to the above-mentioned dock placement requirement information.

[0086] The specific working process and corresponding beneficial effects of the forklift dispatching system provided in this embodiment can refer to the corresponding process in the aforementioned method example, which will not be described in detail here.

[0087] Fig.11 A schematic diagram of the structure of a forklift provided by an embodiment of the present invention is shown in FIG. Fig.11 As shown, the forklift includes:

[0088] The instruction receiving module 1101 is used to receive the task execution instruction sent by the forklift dispatching system; the task execution module 1102 is used to respond to the above task execution instruction and execute the dock placement task along the target path; wherein the above dock placement task refers to moving the dock to the target position, and the forklift dispatching system determines the dock placement information according to the dock layout diagram input by the user, and generates it according to the above dock placement information; the above target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock, and then to the above target position, which is determined by the forklift dispatching system according to the dock placement task and the dock environment information.

[0089] In some embodiments, each dock has a corresponding dock identification, and the dock placement task refers to moving the dock with the corresponding dock identification to the corresponding target position; then the task execution module 1102 is specifically used to: after moving to the current position of the dock along the target path, identify the dock with the corresponding dock identification and grab it, and move the grabbed dock to the corresponding target position.

[0090] In some embodiments, the instruction receiving module 1101 is further used to receive dock placement requirement information sent by a forklift dispatching system; the task execution module 1102 is further used to place the dock according to the dock placement requirement information after the forklift moves the grabbed dock to the corresponding target position.

[0091] In some embodiments, the task execution module 1102 is also used to: perform corresponding obstacle avoidance strategies according to the road conditions of the forklift as the forklift moves along the target path; wherein the obstacle avoidance strategies include at least one of the following: when there is an obstacle in the forklift's forward direction, issue a warning; when there is an obstacle within a first preset range in the forklift's forward direction, the forklift stops moving and issues a warning or turns; when there is an obstacle within a second preset range in the forklift's forward direction, the forklift slows down and issues a warning; when the path width in the forklift's forward direction is greater than the first preset value and there is an obstacle, the forklift moves around the obstacle; when the path width in the forklift's forward direction is less than the second preset value and there is an obstacle, the forklift stops moving and issues a warning.

[0092] The specific working process and corresponding beneficial effects of the forklift provided in this embodiment can refer to the corresponding process in the aforementioned method example, and will not be described in detail here.

[0093] like Fig.12 As shown, an embodiment of the present invention provides an electronic device, including a processor 1201, a communication interface 1202, a memory 1203 and a communication bus 1204, wherein the processor 1201, the communication interface 1202, and the memory 1203 communicate with each other through the communication bus 1204.

[0094] Memory 1203, used for storing computer programs;

[0095] In one embodiment of the present invention, the processor 1201 is used to implement the steps of the dock pier placement method provided by any of the aforementioned method embodiments when executing the program stored in the memory 1203.

[0096] The implementation principle and technical effect of the electronic device provided by the embodiment of the present invention are similar to those of the above embodiment and will not be described in detail here.

[0097] The above-mentioned memory 1203 can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory 1203 has a storage space for program codes for executing any method steps in the above-mentioned method. For example, the storage space for program codes may include various program codes for implementing various steps in the above method respectively. These program codes can be read from or written into one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are usually portable or fixed storage units. The storage unit may have a storage segment or storage space arranged similarly to the memory 1203 in the above-mentioned electronic device. The program code can be compressed, for example, in an appropriate form. Generally, the storage unit includes a program for executing the method steps according to an embodiment of the present invention, that is, a code that can be read by a processor such as 1201, which, when run by an electronic device, causes the electronic device to execute various steps in the method described above.

[0098] The embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the dock pier placement method described above are implemented.

[0099] The computer-readable storage medium may be included in the device / apparatus described in the above embodiment; or it may exist independently without being assembled into the device / apparatus. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0100] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, the computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0101] The embodiment of the present invention further provides a dock pier placement system, comprising a forklift dispatching system and a forklift, wherein the forklift dispatching system is used to implement the dock pier placement method as described in any one of the first aspects, and the forklift is used to implement the dock pier placement method as described in any one of the second aspects. Figure 1 shown.

[0102] Technicians in the relevant field can clearly understand that for the convenience and simplicity of description, the specific working process and corresponding beneficial effects of the dock pier placement system described above can refer to the corresponding process in the aforementioned method example, and will not be repeated here.

[0103] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0104] The above are preferred embodiments of the present invention. It should be pointed out that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A method for placing dock piers, characterized in that: Applied to a forklift dispatching system, the method comprises: Determine dock placement information according to the dock layout diagram input by the user, and generate a dock placement task according to the dock placement information, wherein the dock placement task is to move the dock to a target position; Determine a target path according to the dock placement task and dock environment information, wherein the target path refers to a path for the forklift to move from the current position of the forklift to the current position of the dock and then to the target position; A task execution instruction is sent to the forklift, so that the forklift performs the dock placement task along the target path.

2. The method according to claim 1, characterized in that Each dock has a corresponding dock identifier; the method of determining dock placement information according to the dock layout diagram input by the user, and generating a dock placement task according to the dock placement information includes: Determine the dock identification and the corresponding target position of the dock to be placed according to the dock layout diagram input by the user, and generate the dock placement task according to the dock identification and the target position of the dock to be placed; Then, sending a task execution instruction to a forklift so that the forklift performs the dock placement task along a target path includes: A task execution command is sent to the forklift so that the forklift moves to the current position of the dock along the target path, identifies and grabs the dock with the corresponding dock identifier, and moves the grabbed dock to the corresponding target position.

3. The method according to claim 2, characterized in that The method further comprises: Determine the dock placement requirement information according to the dock layout diagram input by the user; The dock placement information is sent to the forklift, so that the forklift moves the grabbed dock to the corresponding target position and then places the dock according to the dock placement requirement information.

4. A method for placing dock piers, characterized in that: Applied to a forklift, the method comprises: Receive task execution instructions sent by the forklift dispatching system; In response to the task execution instruction, executing the dock placement task along the target path; Among them, the dock placement task refers to moving the dock to the target position, and the forklift scheduling system determines the dock placement information according to the dock layout diagram input by the user, and generates it according to the dock placement information; the target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock, and then to the target position, which is determined by the forklift scheduling system according to the dock placement task and the dock environment information.

5. The method according to claim 4, characterized in that Each dock has a corresponding dock identifier, and the dock placement task is to move the dock with the corresponding dock identifier to the corresponding target position; then the dock placement task is performed along the target path, including: After moving to the current position of the dock along the target path, the dock with the corresponding dock identifier is identified and grasped, and the grasped dock is moved to the corresponding target position.

6. The method according to claim 5, characterized in that The method further comprises: Receive dock placement request information sent by the forklift dispatch system; After the forklift moves the grabbed dock to the corresponding target position, the dock is placed according to the dock placement requirement information.

7. The method according to any one of claims 4 to 6, characterized in that: When the forklift moves along the target path, the corresponding obstacle avoidance strategy is implemented according to the road conditions of the forklift; The obstacle avoidance strategy includes at least one of the following: When there is an obstacle in the forklift's forward direction, an early warning will be issued; When there is an obstacle within the first preset range in the forklift's forward direction, the forklift stops moving or turns; When there is an obstacle within the second preset range in the forklift's forward direction, the forklift slows down and issues a warning prompt; When the path width in the forward direction of the forklift is greater than a first preset value and there is an obstacle, the forklift moves around the obstacle; When the path width in the forward direction of the forklift is less than the second preset value and there is an obstacle, the forklift stops moving and issues a warning prompt.

8. A forklift dispatching system, characterized in that: include: A task generation module, used to determine dock placement information according to the dock layout diagram input by the user, and generate a dock placement task according to the dock placement information, wherein the dock placement task is to move the dock to a target position; A navigation and positioning module, used to determine a target path according to the dock placement task and dock environment information, wherein the target path refers to a path for the forklift to move from the current position of the forklift to the current position of the dock and then to the target position; The instruction sending module is used to send a task execution instruction to the forklift so that the forklift performs the dock placement task along the target path.

9. A forklift, characterized in that: include: An instruction receiving module, used for receiving a task execution instruction sent by a forklift dispatching system; A task execution module, for executing the dock placement task along the target path in response to the task execution instruction; Among them, the dock placement task refers to moving the dock to the target position, and the forklift scheduling system determines the dock placement information according to the dock layout diagram input by the user, and generates it according to the dock placement information; the target path refers to the path of the forklift moving from the current position of the forklift to the current position of the dock, and then to the target position, which is determined by the forklift scheduling system according to the dock placement task and the dock environment information.

10. A dock pier placement system, characterized in that: It comprises a forklift dispatching system and a forklift, wherein the forklift dispatching system is used to implement the dock pier placement method as described in any one of claims 1-3, and the forklift is used to implement the dock pier placement method as described in any one of claims 4-7.

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