Automatic container transportation system and method based on V-SLAM

Abstract

The invention discloses a V-SLAM-based container automatic transportation system and method, and relates to the technical field of logistics automatic transportation, and the method comprises the steps: analyzing the transportation matching degree between a transportation device and a transportation task, and obtaining a target transportation device; constructing a fault prediction model of the target transportation equipment, and performing fault prediction on the target transportation equipment for transporting the container in the transportation task by using the fault prediction model to obtain marked target transportation equipment; acquiring marked equipment transportation data of marked target transportation equipment, acquiring feature equipment transportation data of idle transportation equipment in the transportation area, and analyzing the transportation assistance degree of the idle transportation equipment to the marked target transportation equipment to obtain assisted idle transportation equipment; and an idle transportation assisting device is dispatched, container transportation assisting is carried out on the marked target transportation device, fault maintenance is carried out on the marked target transportation device, and automatic transportation is carried out on the container in the transportation task.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics automated transportation, and in particular to a container automated transportation system and method based on V-SLAM. Background Art

[0002] V-SLAM is a technology that uses visual information for positioning and building environmental maps. It is widely used in robots, driverless cars and other equipment. Using V-SLAM technology for automated container transportation has many advantages, including but not limited to the following: 1. Accurate positioning. V-SLAM can use visual sensors and algorithms to capture environmental information in real time, and can provide centimeter-level positioning accuracy; 2. Real-time construction of environmental maps. The V-SLAM system can build environmental maps in real time to help transportation equipment identify the surrounding environment and ensure efficient transportation; 3. Effectively reduce costs. Using V-SLAM for positioning and navigation can effectively reduce dependence on expensive infrastructure (such as ground beacons, lidar), thereby reducing the cost of investing in infrastructure.

[0003] At present, in the process of container transportation, the container is mainly placed on the transportation equipment, and then the driver drives the transportation equipment to transport the container to the designated location. Although this is flexible to operate, it has high requirements on the driver and is prone to human errors. In order to avoid the occurrence of such problems, there is currently the use of transportation equipment to carry out automated container transportation in the transportation area. In the actual transportation process, the transportation equipment can only transport according to the number and method of equipment set manually. This makes it very likely that the capacity of the transportation equipment will not match the workload required for transportation. At the same time, the transportation equipment may also have equipment failures during transportation. These require a readjustment of the container transportation strategy, but the existing automated container transportation method cannot do this, which will not only reduce the transportation efficiency of the transportation equipment, but may even cause the container to be unable to be transported within the specified time, causing huge losses. Summary of the invention

[0004] The purpose of the present invention is to provide a container automated transportation system and method based on V-SLAM to solve the problems raised in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solution: a container automated transportation method based on V-SLAM, the method comprising:

[0006] Step S100: obtaining container data of the transport tasks in the transport area within the current cycle, obtaining equipment transport data of the transport equipment in the transport area, analyzing the degree of transport compatibility between the transport equipment and the transport tasks, and obtaining the target transport equipment;

[0007] Step S200: Obtain historical equipment records and historical fault records of the target transport equipment, build a fault prediction model for the target transport equipment, and use the fault prediction model to predict faults of the target transport equipment transporting containers in the transport task, to obtain a marked target transport equipment;

[0008] Step S300: Acquire the marked equipment transportation data of the marked target transportation equipment, acquire the characteristic equipment transportation data of the idle transportation equipment in the transportation area, analyze the transportation assistance degree of the idle transportation equipment to the marked target transportation equipment, and obtain the assisting idle transportation equipment;

[0009] Step S400: dispatching assisting idle transport equipment to assist the marked target transport equipment in transporting containers, repairing faults of the marked target transport equipment, and automating the transport of containers in the transport task.

[0010] Furthermore, step S100 includes:

[0011] Step S101: Acquire the transportation data of the transportation task in the transportation area within the current cycle, the transportation data including the volume information and transportation distance information of the container planned to be transported by the transportation task;

[0012] Step S102: Obtain the length, width and height of the container from the volume information of the transport task plan, and obtain the preset transport distance L between the starting point and the destination of the container in the transport task from the transport distance information. △ ;

[0013] Step S102: Acquire equipment data of the transport equipment that transports containers in the transport area, the equipment data including the length L, width W, height H and average cruising range of the transport space of the transport equipment;

[0014] Step S103: Analyze the degree of transport compatibility between each transport equipment in the transport area and the transport task, wherein the specific process of analyzing the degree of transport compatibility between the a-th transport equipment in the transport area and the transport task is as follows:

[0015] Calculate the spatial fit B between the a-th transport equipment and the transport task a :

[0016]

[0017] Among them, L a , H a , W a are the length, width and height of the a-th transport equipment, L a >L,H a >H,Wa >W;

[0018] Step S104: Calculate the characteristic transport times C of the a-th transport equipment for the transport task a =[K a / L △ ], where K a is the average cruising range of the a-th transport equipment;

[0019] Step S105: Calculate the characteristic transport fit degree E between the a-th transport equipment and the transport task a :

[0020]

[0021] Among them, C max , C min are the maximum and minimum values ​​of the characteristic transport times of each transport equipment for the transport task; η 1 , η 2 They are respectively the preset first characteristic transport compatibility coefficient and the second characteristic transport compatibility coefficient;

[0022] Step S106: When the characteristic transport conformity level E a , is greater than the preset characteristic transportation matching threshold of the transportation task, it is determined that the a-th transportation equipment has the transportation matching degree with the transportation task, and the a-th transportation equipment is recorded as the target transportation equipment of the transportation task.

[0023] Further, step S200 includes:

[0024] Step S201: Obtain historical equipment failure records of target transport equipment of the transport task, and obtain historical equipment failure data from the equipment failure records, the historical equipment failure data including data corresponding to various equipment operating parameters when the target transport equipment fails;

[0025] Step S202: Obtain historical equipment records of the target transportation equipment, and obtain historical equipment operation data from the historical equipment records, the historical equipment operation data including data corresponding to various equipment operation parameters of the target operating equipment;

[0026] Step S203: construct a fault prediction model for the target transportation equipment. The specific construction process is as follows:

[0027] The equipment operating parameters of the target transportation equipment are used as input data of the fault prediction model, and the working state of the target transportation equipment is used as output data of the fault prediction model, wherein the working state of the target transportation equipment is divided into fault and normal, 1 represents fault, and 0 represents normal;

[0028] Based on the preset division ratio, each historical equipment record and each historical equipment fault record in the target transportation equipment is divided into a training set and a test set. The training set is used to train the fault prediction model to obtain the loss function F of the fault prediction model:

[0029]

[0030] Where n is the total number of training samples in the training set; q △,i is the true value of the output data of the i-th training sample in the training set; q′ △,i is the predicted value of the fault prediction model for the output data in the i-th training sample;

[0031] Obtain the preset weight matrix W of the fault prediction model and update the weight matrix W by the gradient descent method. The specific formula is:

[0032]

[0033] Among them, α is the preset learning rate; ▽F(W) is the gradient of the loss function F with respect to the weight matrix W;

[0034] Step S204: Based on the test set, calculate the characteristic model error S of the fault prediction model:

[0035]

[0036] Where m is the total number of test samples in the test set; q z is the true value of the output data of the zth test sample in the test set; q′ △,z is the predicted value of the fault prediction model for the output data in the zth test sample;

[0037] When the feature model error S is less than the preset feature model error threshold, it is determined that the fault prediction model is built successfully;

[0038] Step S205: Obtain the fault prediction model of each target transport equipment of the transport task, dispatch each target transport equipment of the transport task in the current cycle, perform automated transport of containers in the transport task, monitor the equipment status of each target transport equipment, use the fault prediction model to predict equipment failure for each target transport equipment, obtain the target transport equipment that is determined to have a risk of failure, and record it as the marked target transport equipment of the transport task;

[0039] The fault prediction model constructed in the above steps predicts whether the target transport equipment in the transport task has a fault prediction, thereby obtaining the marked target transport equipment that is judged to have a risk of failure. By obtaining the marked target transport equipment, not only can the faulty target transport equipment be discovered in time, but also the normal automated transport of containers in the transport task can be ensured.

[0040] Furthermore, step S300 includes:

[0041] Step S301: Acquire the marked equipment transportation data of the marked target transportation equipment, the marked equipment transportation data including the length, width, height and equipment coordinates of each container transported by the marked target transportation equipment in the current cycle;

[0042] Step S302: characteristic equipment transportation data of several idle transportation equipment in the transportation area, the characteristic equipment transportation data including the transportation cargo volume and equipment coordinates of the idle transportation equipment, wherein the length, width and height of the transportation space of the several idle transportation equipment are all greater than the length, width and height of each container transported by the marked target transportation equipment;

[0043] Step S303: When the fault prediction model determines that the position coordinates of the target transport equipment are marked as having a fault risk, a plurality of idle transport equipment are analyzed to determine the degree of transport assistance to the marked target transport equipment. The specific process of analyzing the γth idle transport equipment to determine the degree of transport assistance to the target transport equipment is as follows:

[0044] Calculate the characteristic equipment distance Q between the marked target transport equipment and the γth idle transport equipment γ :

[0045]

[0046] Among them, X △ , Y △ They represent the horizontal and vertical coordinates of the target transport equipment in the preset two-dimensional coordinate system; γ , Y γ They are respectively represented as the horizontal coordinate and vertical coordinate of the γth idle transport equipment in the two-dimensional coordinate system;

[0047] Step S304: Calculate the characteristic transportation assistance level P of the γth idle transportation equipment to the target transportation equipment γ :

[0048] P γ =ε 1 ×Q γ +ε 2 ×V γ ,

[0049] Among them, Vγ It is represented by the transport cargo volume of the γth idle transport equipment; ε 1 , ε 2 They are respectively represented as the preset first characteristic transport assistance coefficient and the second characteristic transport assistance coefficient;

[0050] Step S305: When the characteristic transport assistance level P γ , is greater than the characteristic transportation assistance threshold of the marked target transportation equipment, it is determined that the γth idle transportation equipment has the transportation assistance capability for the marked target transportation equipment, and the γth idle transportation equipment is recorded as the assisting idle transportation equipment of the marked target transportation equipment.

[0051] Furthermore, step S400 includes:

[0052] Step S401: using maintenance transportation equipment in the transportation area to transport the marked target transportation equipment to a preset maintenance point, and performing equipment maintenance on the marked target transportation equipment;

[0053] Step S402: dispatch each idle transport equipment assisting the marked target transport equipment to transport the containers on the marked target transport equipment, use the idle transport equipment assisting to transport the containers required by the transport equipment, and automatically transport the containers in the transport task.

[0054] In order to better implement the above method, a container automatic transportation system based on V-SLAM is also proposed, which includes a transportation conformity module, a target transportation equipment marking module, an idle transportation equipment assistance module, and an automatic transportation module;

[0055] The transportation compatibility module is used to analyze the transportation compatibility between the transportation equipment and the transportation task to obtain the target transportation equipment;

[0056] The target transport equipment marking module is used to construct a fault prediction model for the target transport equipment, and use the fault prediction model to predict the faults of the target transport equipment transporting containers in the transport task, so as to obtain the marked target transport equipment;

[0057] The module for assisting idle transport equipment is used to obtain the characteristic equipment transportation data of the idle transport equipment in the transport area, analyze the degree of transportation assistance of the idle transport equipment to the marked target transport equipment, and obtain the assisted idle transport equipment;

[0058] The automated transport module is used to dispatch and assist idle transport equipment, provide container transport assistance to the marked target transport equipment, perform fault repairs on the marked target transport equipment, and automate the transport of containers in the transport mission.

[0059] Furthermore, the transport compatibility module includes a characteristic transport compatibility unit and a target transport equipment unit;

[0060] The characteristic transport compatibility unit is used to calculate the characteristic transport compatibility between each transport equipment in the transport area and the transport task;

[0061] The target transport equipment unit is used to determine the degree of characteristic transport compatibility between each transport equipment and the transport task according to the characteristic transport compatibility degree, and obtain the target transport equipment.

[0062] Further, the target transport equipment marking module includes a model building unit and a target transport equipment marking unit;

[0063] A model building unit, used to obtain historical equipment failure records of target transportation equipment of the transportation task and build a failure prediction model for the target transportation equipment;

[0064] The target transport equipment marking unit is used to predict the faults of the target transport equipment in the transport task according to the fault prediction model of the target transport equipment, so as to obtain the marked target transport equipment.

[0065] Further, the module for assisting idle transport equipment includes a characteristic transport assistance degree unit and an assisting idle transport equipment unit;

[0066] A characteristic transport assistance degree unit, used for calculating the characteristic transport assistance degree of the idle transport equipment to the target transport equipment;

[0067] The assisting idle transport equipment unit is used to determine the idle transport equipment according to the characteristic transport assistance degree, and to obtain the assisted idle transport equipment by marking the transport assistance capability of the target transport equipment.

[0068] Further, the automated transport module includes an automated transport unit;

[0069] The automated transport unit is used to use the maintenance transport equipment in the transport area to perform equipment maintenance on the marked target transport equipment, dispatch various assisting idle transport equipment of the marked target transport equipment to transport containers on the marked target transport equipment, use the assisting idle transport equipment to transport containers required by the transport equipment, and perform automated transportation of containers in the transport tasks.

[0070] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention realizes the automated transportation of containers, and analyzes the degree of transportation compatibility between the transportation equipment and the transportation tasks in the transportation area through the space utilization rate of the transportation containers in the transportation equipment and the endurance of the transportation equipment, so as to find the transportation equipment that best matches the transportation tasks, greatly improving the efficiency of the transportation equipment in the automated transportation of containers, and can also predict faults of the transportation equipment for automated transportation of containers, obtain marked target transportation equipment with failure risks, and analyze the degree of transportation assistance of the idle transportation equipment in the transportation area to the marked target transportation equipment, so as to dispatch assisting idle transportation equipment to assist the marked target transportation equipment in transportation. This will not only increase the transportation efficiency of the transportation equipment, but also avoid the impact of the target transportation equipment on the automated transportation of containers. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 It is a method flow chart of the container automated transportation system and method based on V-SLAM of the present invention;

[0072] Figure 2 It is a module schematic diagram of the container automated transportation system and method based on V-SLAM of the present invention. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] Example: Figure 1-Figure 2 As shown, the present invention provides a technical solution, a container automated transportation method based on V-SLAM, the method comprising:

[0075] Step S100: obtaining container data of the transport tasks in the transport area within the current cycle, obtaining equipment transport data of the transport equipment in the transport area, analyzing the degree of transport compatibility between the transport equipment and the transport tasks, and obtaining the target transport equipment;

[0076] Wherein, step S100 includes:

[0077] Step S101: Acquire the transportation data of the transportation task in the transportation area within the current cycle, the transportation data including the volume information and transportation distance information of the container planned to be transported by the transportation task;

[0078] Step S102: Obtain the length, width and height of the container from the volume information of the transport task plan, and obtain the preset transport distance L between the starting point and the destination of the container in the transport task from the transport distance information. △ ;

[0079] Step S102: Acquire equipment data of the transport equipment that transports containers in the transport area, the equipment data including the length L, width W, height H and average cruising range of the transport space of the transport equipment;

[0080] Step S103: Analyze the degree of transport compatibility between each transport equipment in the transport area and the transport task, wherein the specific process of analyzing the degree of transport compatibility between the a-th transport equipment in the transport area and the transport task is as follows:

[0081] Calculate the spatial fit B between the a-th transport equipment and the transport task a :

[0082]

[0083] Among them, L a , H a , W a are the length, width and height of the a-th transport equipment, L a >L,H a >H,W a >W;

[0084] Step S104: Calculate the characteristic transport times C of the a-th transport equipment for the transport task a =[K a / L △ ], where K a is the average cruising range of the a-th transport equipment;

[0085] Step S105: Calculate the characteristic transport fit degree E between the a-th transport equipment and the transport task a :

[0086]

[0087] Among them, C max , C min are the maximum and minimum values ​​of the characteristic transport times of each transport equipment for the transport task; η 1 , η 2 They are respectively the preset first characteristic transport compatibility coefficient and the second characteristic transport compatibility coefficient;

[0088] Among them, the maximum and minimum values ​​of the characteristic transportation times of each transportation equipment for the transportation task are C max, C min are 20 and 2 respectively; the preset first characteristic transport compatibility coefficient and second characteristic transport compatibility coefficient η 1 , η 2 are 0.6 and 0.4 respectively; the characteristic transport times C of the third transport equipment for the transport task 3 is 4; the spatial fit between the third transport equipment and the transport task is B 3 is 0.9;

[0089] Calculate the characteristic transport fit degree E between the third transport equipment and the transport task 3 :

[0090]

[0091] Step S106: When the characteristic transport conformity level E a , is greater than the preset characteristic transportation matching threshold of the transportation task, it is determined that the a-th transportation equipment has the transportation matching degree with the transportation task, and the a-th transportation equipment is recorded as the target transportation equipment of the transportation task;

[0092] Step S200: Obtain historical equipment records and historical fault records of the target transport equipment, build a fault prediction model for the target transport equipment, and use the fault prediction model to predict faults of the target transport equipment transporting containers in the transport task, to obtain a marked target transport equipment;

[0093] Wherein, step S200 includes:

[0094] Step S201: Obtain historical equipment failure records of target transport equipment of the transport task, and obtain historical equipment failure data from the equipment failure records, the historical equipment failure data including data corresponding to various equipment operating parameters when the target transport equipment fails;

[0095] For example, various equipment operating parameters include equipment voltage, equipment current, etc.;

[0096] Step S202: Obtain historical equipment records of the target transportation equipment, and obtain historical equipment operation data from the historical equipment records, the historical equipment operation data including data corresponding to various equipment operation parameters of the target operating equipment;

[0097] Step S203: construct a fault prediction model for the target transportation equipment. The specific construction process is as follows:

[0098] Taking various equipment operating parameters of the target transportation equipment as input data of the fault prediction model, and taking the working state of the target transportation equipment as output data of the fault prediction model;

[0099] Based on the preset division ratio, each historical equipment record and each historical equipment fault record in the target transportation equipment is divided into a training set and a test set. The training set is used to train the fault prediction model to obtain the loss function F of the fault prediction model:

[0100]

[0101] Where n is the total number of training samples in the training set; q △,i is the true value of the output data of the i-th training sample in the training set; q′ △,i is the predicted value of the fault prediction model for the output data in the i-th training sample;

[0102] Obtain the preset weight matrix W of the fault prediction model and update the weight matrix W by the gradient descent method. The specific formula is:

[0103]

[0104] Among them, α is the preset learning rate; ▽F(W) is the gradient of the loss function F with respect to the weight matrix W;

[0105] Step S204: Based on the test set, calculate the characteristic model error S of the fault prediction model:

[0106]

[0107] Where m is the total number of test samples in the test set; q z is the true value of the output data of the zth test sample in the test set; q′ △,z is the predicted value of the fault prediction model for the output data in the zth test sample;

[0108] When the feature model error S is less than the preset feature model error threshold, it is determined that the fault prediction model is built successfully;

[0109] Step S205: Obtain the fault prediction model of each target transport equipment of the transport task, dispatch each target transport equipment of the transport task in the current cycle, perform automated transport of containers in the transport task, monitor the equipment status of each target transport equipment, use the fault prediction model to predict equipment failure for each target transport equipment, obtain the target transport equipment that is determined to have a risk of failure, and record it as the marked target transport equipment of the transport task;

[0110] Step S300: Acquire the marked equipment transportation data of the marked target transportation equipment, acquire the characteristic equipment transportation data of the idle transportation equipment in the transportation area, analyze the transportation assistance degree of the idle transportation equipment to the marked target transportation equipment, and obtain the assisting idle transportation equipment;

[0111] Wherein, step S300 includes:

[0112] Step S301: Acquire the marked equipment transportation data of the marked target transportation equipment, the marked equipment transportation data including the length, width, height and equipment coordinates of each container transported by the marked target transportation equipment in the current cycle;

[0113] Step S302: characteristic equipment transportation data of several idle transportation equipment in the transportation area, the characteristic equipment transportation data including the transportation cargo volume and equipment coordinates of the idle transportation equipment, wherein the length, width and height of the transportation space of the several idle transportation equipment are all greater than the length, width and height of each container transported by the marked target transportation equipment;

[0114] Step S303: When the fault prediction model determines that the position coordinates of the target transport equipment are marked as having a fault risk, a plurality of idle transport equipment are analyzed to determine the degree of transport assistance to the marked target transport equipment. The specific process of analyzing the γth idle transport equipment to determine the degree of transport assistance to the target transport equipment is as follows:

[0115] Calculate the characteristic equipment distance Q between the marked target transport equipment and the γth idle transport equipment γ :

[0116]

[0117] Among them, X △ , Y △ They represent the horizontal and vertical coordinates of the target transport equipment in the preset two-dimensional coordinate system; γ , Y γ They are respectively represented as the horizontal coordinate and vertical coordinate of the γth idle transport equipment in the two-dimensional coordinate system;

[0118] For example, mark the target transport equipment, the horizontal coordinate and vertical coordinate in the preset two-dimensional coordinate system △ , Y △ Represented as 2 and 4 respectively; the horizontal and vertical coordinates of the second idle transport equipment in the two-dimensional coordinate system are X 2 , Y 2 They are represented as 3 and 6 respectively;

[0119] Calculate the characteristic equipment distance Q between the marked target transport equipment and the second idle transport equipment 2 :

[0120]

[0121] Step S304: Calculate the characteristic transportation assistance level P of the γth idle transportation equipment to the target transportation equipment γ :

[0122] P γ =ε 1 ×Q γ +ε 2 ×V γ ,

[0123] Among them, V γ It is represented by the transport cargo volume of the γth idle transport equipment; ε 1 , ε 2 They are respectively represented as the preset first characteristic transport assistance coefficient and the second characteristic transport assistance coefficient;

[0124] Step S305: When the characteristic transport assistance level P γ , is greater than the characteristic transport assistance threshold of the marked target transport equipment, it is determined that the γth idle transport equipment has the transport assistance capability for the marked target transport equipment, and the γth idle transport equipment is recorded as the assisting idle transport equipment of the marked target transport equipment;

[0125] Step S400: dispatching an assisting idle transport device to assist the marked target transport device in transporting containers, repairing the marked target transport device, and automatically transporting the containers in the transport task;

[0126] Wherein, step S400 includes:

[0127] Step S401: using maintenance transportation equipment in the transportation area to transport the marked target transportation equipment to a preset maintenance point, and performing equipment maintenance on the marked target transportation equipment;

[0128] Step S402: dispatching each of the assisting idle transport equipment of the marked target transport equipment to transport the container on the marked target transport equipment, using the assisting idle transport equipment to transport the container required to be transported by the transport equipment, and automatically transporting the container in the transport task;

[0129] In order to better implement the above method, a container automatic transportation system based on V-SLAM is also proposed, which includes a transportation conformity module, a target transportation equipment marking module, an idle transportation equipment assistance module, and an automatic transportation module;

[0130] The transportation compatibility module is used to analyze the transportation compatibility between the transportation equipment and the transportation task to obtain the target transportation equipment;

[0131] The target transport equipment marking module is used to construct a fault prediction model for the target transport equipment, and use the fault prediction model to predict the faults of the target transport equipment transporting containers in the transport task, so as to obtain the marked target transport equipment;

[0132] The module for assisting idle transport equipment is used to obtain the characteristic equipment transportation data of the idle transport equipment in the transport area, analyze the degree of transportation assistance of the idle transport equipment to the marked target transport equipment, and obtain the assisted idle transport equipment;

[0133] The automated transport module is used to dispatch idle transport equipment to assist in container transport for the marked target transport equipment, perform fault repairs on the marked target transport equipment, and automatically transport containers in the transport mission;

[0134] Among them, the transportation conformity module includes a characteristic transportation conformity unit and a target transportation equipment unit;

[0135] The characteristic transport compatibility unit is used to calculate the characteristic transport compatibility between each transport equipment in the transport area and the transport task;

[0136] The target transport equipment unit is used to determine the degree of characteristic transport compatibility between each transport equipment and the transport task according to the characteristic transport compatibility degree, and obtain the target transport equipment;

[0137] Among them, the target transport equipment marking module includes a model building unit and a target transport equipment marking unit;

[0138] A model building unit, used to obtain historical equipment failure records of target transportation equipment of the transportation task and build a failure prediction model for the target transportation equipment;

[0139] A target transport equipment marking unit is used to predict the faults of the target transport equipment in the transport task according to the fault prediction model of the target transport equipment, and obtain the marked target transport equipment;

[0140] Among them, the module for assisting idle transport equipment includes a characteristic transport assistance degree unit and an assisting idle transport equipment unit;

[0141] A characteristic transport assistance degree unit, used for calculating the characteristic transport assistance degree of the idle transport equipment to the target transport equipment;

[0142] The assisting idle transport equipment unit is used to determine the idle transport equipment according to the characteristic transport assistance degree, and to obtain the assisting idle transport equipment for the transport assistance capability of the marked target transport equipment;

[0143] Wherein, the automated transport module includes an automated transport unit;

[0144] The automated transport unit is used to use the maintenance transport equipment in the transport area to perform equipment maintenance on the marked target transport equipment, dispatch various assisting idle transport equipment of the marked target transport equipment to transport containers on the marked target transport equipment, use the assisting idle transport equipment to transport containers required by the transport equipment, and perform automated transportation of containers in the transport tasks.

[0145] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. The container automated transportation method based on V-SLAM is characterized by: The method comprises: Step S100: acquiring container data of the transport tasks in the transport area in the current cycle, acquiring equipment transport data of the transport equipment in the transport area, analyzing the degree of transport compatibility between the transport equipment and the transport tasks, and obtaining target transport equipment; Step S200: acquiring historical equipment records and historical fault records of the target transport equipment, constructing a fault prediction model for the target transport equipment, and using the fault prediction model to predict faults of the target transport equipment transporting containers in the transport task, to obtain a marked target transport equipment; Step S300: Acquire the marked equipment transportation data of the marked target transportation equipment, acquire the characteristic equipment transportation data of the idle transportation equipment in the transportation area, analyze the transportation assistance degree of the idle transportation equipment to the marked target transportation equipment, and obtain the assisting idle transportation equipment; Step S400: dispatching the assisting idle transport equipment to assist the marked target transport equipment in transporting containers, performing fault repairs on the marked target transport equipment, and automating the transport of containers in the transport task.

2. The V-SLAM-based container automated transportation method according to claim 1, characterized in that: The step S100 includes: Step S101: Acquire the transportation data of the transportation task in the transportation area in the current cycle, wherein the transportation data includes volume information and transportation distance information of the container planned to be transported by the transportation task; Step S102: Obtain the length, width and height of the container from the volume information of the transport task plan, and obtain the preset transport distance L between the starting point and the destination of the container in the transport task from the transport distance information. △ ; Step S102: Acquire equipment data of the transport equipment for container transport in the transport area, the equipment data including the length L, width W, height H and average cruising range of the transport space of the transport equipment; Step S103: analyzing the transport compatibility between each transport equipment in the transport area and the transport task, wherein the specific process of analyzing the transport compatibility between the a-th transport equipment in the transport area and the transport task is as follows: Calculate the spatial fit B between the a-th transport equipment and the transport task a : Among them, L a , H a , W a are the length, width and height of the a-th transport equipment, L a >L,H a >H,W a >W; Step S104: Calculate the characteristic transport times C of the a-th transport equipment for the transport task a =[K a / L △ ], where K a is the average cruising range of the a-th transport equipment; Step S105: Calculate the characteristic transport compatibility degree E between the a-th transport equipment and the transport task a : Among them, C max , C min are the maximum and minimum values ​​of the characteristic transport times of the transport task for each transport equipment respectively; η1 and η2 are the preset first characteristic transport matching coefficient and second characteristic transport matching coefficient respectively; Step S106: When the characteristic transport conformity level E a , is greater than the preset characteristic transportation matching threshold of the transportation task, it is determined that the a-th transportation equipment has the transportation matching degree with the transportation task, and the a-th transportation equipment is recorded as the target transportation equipment of the transportation task.

3. The V-SLAM-based container automated transportation method according to claim 1, characterized in that: The step S200 includes: Step S201: obtaining a historical equipment failure record of the target transport equipment of the transport task, and obtaining the historical equipment failure data from the equipment failure record, wherein the historical equipment failure data includes data corresponding to various equipment operating parameters when the target transport equipment fails; Step S202: Acquire historical equipment records of the target transportation equipment, and acquire historical equipment operation data from the historical equipment records, wherein the historical equipment operation data includes data corresponding to various equipment operation parameters of the target operating equipment; Step S203: constructing a fault prediction model for the target transportation equipment. The specific construction process is as follows: Using various equipment operating parameters of the target transportation equipment as input data of the fault prediction model, and using the working state of the target transportation equipment as output data of the fault prediction model; Based on a preset division ratio, each historical equipment record and each historical equipment fault record in the target transportation equipment is divided into a training set and a test set, and the training set is used to train the fault prediction model to obtain the loss function F of the fault prediction model: Where n is the total number of training samples in the training set; q △,i is the true value of the output data of the i-th training sample in the training set; q′ △,i is the predicted value of the fault prediction model for the output data in the i-th training sample; The preset weight matrix W of the fault prediction model is obtained, and the weight matrix W is updated by the gradient descent method. The specific formula is: Wherein, α is the preset learning rate; ▽F(W) is the gradient of the loss function F with respect to the weight matrix W; Step S204: Based on the test set, calculate the characteristic model error S of the fault prediction model: Wherein, m is the total number of test samples in the test set; q z is the true value of the output data of the zth test sample in the test set; q′ △,z is the predicted value of the output data in the zth test sample by the fault prediction model; When the characteristic model error S is less than a preset characteristic model error threshold, it is determined that the fault prediction model is built successfully; Step S205: Obtain the fault prediction model of each target transportation equipment of the transportation task, dispatch each target transportation equipment of the transportation task in the current cycle, perform automated transportation of the containers in the transportation task, monitor the equipment status of each target transportation equipment, use the fault prediction model to predict equipment failure for each target transportation equipment, obtain the target transportation equipment that is determined to have a failure risk, and record it as the marked target transportation equipment of the transportation task.

4. The V-SLAM-based container automated transportation method according to claim 3, characterized in that: The step S300 includes: Step S301: Acquire the marked equipment transportation data of the marked target transportation equipment, wherein the marked equipment transportation data includes the length, width, height and equipment coordinates of each container transported by the marked target transportation equipment in the current cycle; Step S302: characteristic equipment transportation data of a plurality of idle transportation equipment in the transportation area, the characteristic equipment transportation data including the transportation cargo volume and equipment coordinates of the idle transportation equipment, wherein the length, width and height of the transportation space of the plurality of idle transportation equipment are all greater than the length, width and height of each container transported by the marked target transportation equipment; Step S303: obtaining the position coordinates of the marked target transport equipment when the fault prediction model determines that the marked target transport equipment has a fault risk, analyzing the several idle transport equipments, and analyzing the degree of transport assistance to the marked target transport equipment. The specific process of analyzing the γth idle transport equipment and the degree of transport assistance to the target transport equipment is as follows: Calculate the characteristic device distance Q between the marked target transport device and the γth idle transport device γ : Among them, X △ , Y △ They respectively represent the horizontal coordinate and the vertical coordinate of the marked target transport equipment in the preset two-dimensional coordinate system; γ , Y γ are respectively represented as the abscissa and ordinate of the γth idle transport equipment in the two-dimensional coordinate system; Step S304: Calculate the characteristic transportation assistance degree P of the γth idle transportation equipment to the target transportation equipment γ : Pγγ=ε1×Qγ+ε2×Vγ ， Among them, V γ It is represented as the transport cargo volume of the γth idle transport equipment; ε1 and ε2 are respectively represented as the preset first characteristic transport assistance coefficient and the second characteristic transport assistance coefficient; Step S305: When the characteristic transport assistance level P γ , which is greater than the characteristic transport assistance threshold of the marked target transport equipment, determines that the γth idle transport equipment has the transport assistance capability for the marked target transport equipment, and records the γth idle transport equipment as the assisting idle transport equipment of the marked target transport equipment.

5. The V-SLAM-based container automated transportation method according to claim 4, characterized in that: The step S400 includes: Step S401: using the maintenance transportation equipment in the transportation area to transport the marked target transportation equipment to a preset maintenance point, and performing equipment maintenance on the marked target transportation equipment; Step S402: dispatch each of the idle assisting transport equipment of the marked target transport equipment to transport the containers on the marked target transport equipment, use the idle assisting transport equipment to transport the containers required to be transported by the transport equipment, and automatically transport the containers in the transport task.

6. A V-SLAM-based container automated transportation system, used to execute the V-SLAM-based container automated transportation method according to any one of claims 1 to 5, characterized in that: The system includes a transportation conformity module, a target transportation equipment marking module, an idle transportation equipment assistance module, and an automated transportation module; The transport compatibility module is used to analyze the transport compatibility between the transport equipment and the transport task to obtain the target transport equipment; The target transport equipment marking module is used to construct a fault prediction model for the target transport equipment, and use the fault prediction model to predict the faults of the target transport equipment transporting the container in the transport task, so as to obtain the marked target transport equipment; The idle transport equipment assisting module is used to obtain characteristic equipment transportation data of the idle transport equipment in the transportation area, analyze the degree of transportation assistance of the idle transport equipment to the marked target transport equipment, and obtain the assisted idle transport equipment; The automated transport module is used to dispatch the assisting idle transport equipment to assist the marked target transport equipment in container transport, perform fault repairs on the marked target transport equipment, and automatically transport the containers in the transport task.

7. The V-SLAM-based container automated transportation system according to claim 6, characterized in that: The transport conformity module includes a characteristic transport conformity unit and a target transport equipment unit; The characteristic transport compatibility unit is used to calculate the characteristic transport compatibility between each transport equipment in the transport area and the transport task; The target transportation equipment unit is used to determine the degree of characteristic transportation compatibility between each transportation equipment and the transportation task according to the characteristic transportation compatibility degree, and obtain the target transportation equipment.

8. The V-SLAM-based container automated transportation system according to claim 6, characterized in that: The target transport equipment marking module includes a model building unit and a target transport equipment marking unit; The model building unit is used to obtain historical equipment failure records of the target transportation equipment of the transportation task and build a failure prediction model for the target transportation equipment; The target transport equipment marking unit is used to predict the faults of the target transport equipment in the transport task according to the fault prediction model of the target transport equipment, so as to obtain the marked target transport equipment.

9. The V-SLAM-based container automated transportation system according to claim 6, characterized in that: The module for assisting idle transport equipment includes a characteristic transport assistance degree unit and an assisting idle transport equipment unit; The characteristic transport assistance degree unit is used to calculate the characteristic transport assistance degree of the idle transport equipment to the target transport equipment; The assisting idle transport equipment unit is used to determine the idle transport equipment according to the characteristic transport assistance degree, and obtain the assisted idle transport equipment for the transport assistance capability of the marked target transport equipment.

10. The V-SLAM-based container automated transportation system according to claim 6, characterized in that: The automated transport module includes an automated transport unit; The automated transport unit is used to use the maintenance transport equipment in the transport area to perform equipment maintenance on the marked target transport equipment, dispatch various assisting idle transport equipment of the marked target transport equipment to transport containers on the marked target transport equipment, use the assisting idle transport equipment to transport containers required by the transport equipment, and perform automated transportation of containers in the transport task.

Images