Tray production management method and device, equipment and storage medium

Abstract

The embodiment of the invention relates to the technical field of production management, and discloses a tray production management method, device and equipment and a storage medium. Aiming at traffic barriers possibly encountered by trays in the transportation process, the method comprises the following steps: acquiring initial outer contour information after the trays are stacked by tray transportation equipment; initial correction is carried out in combination with position change data (including left and right vibration deviation values) in historical transportation, and then secondary correction is carried out according to an outer contour correction coefficient set by a user according to actual ground conditions, so that accurate target outer contour information is obtained. And on the premise that the target outer contour is matched with the channel size, the optimal driving path is determined according to the information and the historical position change data, so that the transportation efficiency and safety of the tray in the target channel where obstacles easily occur are effectively improved, and the production efficiency of the tray is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of production management, and in particular to a pallet production management method, device, equipment and storage medium. Background Art

[0002] In modern logistics and manufacturing, pallets are the basic unit for cargo transportation and storage. Their efficient and safe circulation is crucial to improving production efficiency. Pallet production management not only involves production quality control, but also covers the whole process management of the production process, such as transportation management, among which the transportation of pallets between different production areas is a key link. However, in actual operation, due to the limitations of production layout and the complexity of transportation routes, the pallet transportation process often faces many challenges, especially in areas prone to transportation obstacles.

[0003] Traditional pallet transportation management mainly relies on manual scheduling and experience judgment, which is not only inefficient, but also difficult to cope with complex and changing transportation environments. Especially between some specific production areas, such as the transfer process from the first production area to the second production area, due to narrow passages, uneven ground or other potential obstacles, pallet transportation equipment is very likely to collide or get stuck during driving, which not only affects production efficiency, but may also cause damage to equipment or pallets. Summary of the invention

[0004] The main purpose of the present invention is to provide a pallet production management method, device, equipment and storage medium, aiming to solve the technical problem in the prior art that pallet transportation management mainly relies on manual scheduling and experience judgment, resulting in low production efficiency.

[0005] To achieve the above-mentioned purpose, in a first aspect, an embodiment of the present application provides a pallet production management method, which is applied to a pallet transportation device that transports pallets from a first production area to a second production area, wherein a target channel prone to traffic obstacles is formed between the first production area and the second production area, and the method comprises: Obtain the initial outer contour information of the pallet transport equipment after stacking the pallets; Performing a primary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain initial corrected outer contour information, wherein the historical position change data includes a left vibration offset value and a right vibration offset value; The initially corrected outer contour information is corrected again according to the outer contour correction coefficient preset by the user to obtain the target outer contour information, wherein the outer contour correction coefficient is the outer contour position change correction coefficient determined by the user according to the actual situation on the ground, and the target outer contour information at least includes the target outer contour size information, the distance from the left virtual contour to the center of the pallet transport device, and the distance from the right virtual contour to the center of the pallet transport device; When the target outer contour dimension information matches the dimension information of the target channel, the target travel path of the pallet transport device when passing through the target channel is determined according to the target outer contour dimension information and the historical position change data.

[0006] In a possible implementation, a laser radar is provided at the center of the pallet transport device, and the obtaining of initial outer contour information of the pallet transport device after the pallets are stacked includes: Extracting a left initial outer contour and a right initial outer contour of the point cloud data acquired by the laser radar; Respectively obtain the distance information from the left initial outer contour and the right initial outer contour to the laser radar to obtain a first distance value and a second distance value; According to the mapping relationship between the laser radar coordinate system and the pallet transport equipment coordinate system, the first distance value and the second distance value are converted into the distance from the left initial outer contour to the center of the pallet transport equipment and the distance from the right initial outer contour to the center of the pallet transport equipment.

[0007] In a possible implementation, the initial outer contour information is initially corrected according to the historical position change data of the pallet during the historical transportation process to obtain the initial corrected outer contour information, including: Obtain the left vibration offset value and the right vibration offset value at different driving speeds and different load weights during historical transportation; According to the current travel speed and load weight of the pallet transport equipment, the corresponding left vibration offset value and right vibration offset value are selected from the historical data for initial correction to obtain the initial correction outer contour information.

[0008] In a possible implementation, the outer contour correction coefficient includes a left outer contour correction coefficient and a right outer contour correction coefficient, and the re-correcting the initially corrected outer contour information according to the outer contour correction coefficient preset by the user to obtain the target outer contour information includes: The distance from the left virtual contour in the initial correction outer contour information to the center of the pallet transport device is multiplied by the left outer contour correction coefficient to obtain the corrected distance from the left virtual contour to the center of the pallet transport device; The distance from the right virtual contour in the initial correction outer contour information to the center of the pallet transport device is multiplied by the right outer contour correction coefficient to obtain the corrected distance from the right virtual contour to the center of the pallet transport device; The target outer contour dimension information is determined according to the corrected distance from the left virtual contour to the center of the pallet transport device and the distance from the right virtual contour to the center of the pallet transport device.

[0009] In a possible implementation, after the initially corrected outer contour information is corrected again according to the outer contour correction coefficient preset by the user to obtain the target outer contour information, the method further includes: When the target outer contour dimension information does not match the dimension information of the target channel, a transport obstacle warning signal is triggered, and the transport obstacle warning signal is used to prompt the user to adjust the stacking position of the pallet to adjust the initial outer contour information of the pallet transport equipment after stacking the pallets.

[0010] In a possible implementation, determining the target travel path of the pallet transport device when passing through the target channel according to the target outer contour dimension information and the historical position change data includes: Determine the relationship between the difference between the left vibration offset value and the right vibration offset value and a preset difference value, and the magnitude relationship between the left vibration offset value and the right vibration offset value; When the difference between the left vibration offset value and the right vibration offset value is greater than a preset difference and the left vibration offset value is greater than the right vibration offset value, a first target driving path is determined to control the distance from the left virtual contour to the left wall of the pallet transport device to be greater than the distance from the right virtual contour to the right wall when the pallet transport device passes through the target channel; When the difference between the left vibration offset value and the right vibration offset value is greater than a preset difference and the left vibration offset value is less than the right vibration offset value, a second target driving path is determined to control the distance from the left virtual contour to the left wall of the pallet transport device when passing through the target channel to be less than the distance from the right virtual contour to the right wall; When the difference between the left vibration offset value and the right vibration offset value is less than a preset difference, a third target driving path is determined to control the distance from the left virtual contour to the left wall and the distance from the right virtual contour to the right wall to be approximately equal when the pallet transport equipment passes through the target channel.

[0011] In a possible implementation, after determining the target travel path of the pallet transport device when passing through the target channel, the method further includes: When the pallet transport equipment passes through the target channel, the point cloud data of the laser radar is acquired in real time, and the outer contour information of the target is monitored in real time based on the real-time point cloud data of the laser radar; When it is detected that the target outer contour information changes and the change exceeds a preset change threshold, the target driving path is re-determined.

[0012] In a possible implementation, the method further includes: When the pallet transport device passes through the target channel, the travel speed of the pallet transport device is dynamically adjusted according to a pre-trained speed correction model, wherein the speed correction model satisfies the following expression: ; Where V is the adjusted driving speed, is the initially set driving speed; S is the width of the target channel, D is the target outer contour width in the target outer contour size information; L is the real-time distance from the left virtual contour to the left wall, and R is the real-time distance from the right virtual contour to the right wall.

[0013] In a second aspect, an embodiment of the present application further provides a pallet production management device, comprising: An acquisition module is used to acquire initial outer contour information of pallets after the pallet transport equipment stacks the pallets; An initial correction module is used to perform initial correction on the initial outer contour information according to the historical position change data of the pallet during transportation to obtain initial corrected outer contour information; A re-correction module is used to re-correct the initially corrected outer contour information according to the outer contour correction coefficient preset by the user to obtain the target outer contour information; The target driving path determination module is used to determine the target driving path of the pallet transport equipment when it passes through the target channel according to the target outer contour size information and historical position change data when the target outer contour size information matches the size information of the target channel.

[0014] In a third aspect, an embodiment of the present application further provides a pallet transport device, comprising: a memory and a processor, wherein the memory is used to store program codes; and the processor is used to call the program codes to execute the method described in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application further provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0016] Different from the prior art, the present application embodiment provides a pallet production management method to target the traffic obstacles that the pallet may encounter during transportation. The method obtains the initial outer contour information of the pallet transport equipment after stacking the pallets, and performs the initial correction in combination with the position change data (including the left and right vibration offset values) in the historical transportation, and then performs the correction again according to the outer contour correction coefficient set by the user according to the actual ground conditions, so as to obtain accurate target outer contour information. On the premise that the target outer contour matches the channel size, the optimal driving path is determined based on this information and the historical position change data, thereby effectively improving the transportation efficiency and safety of the pallet in the target channel prone to obstacles, thereby improving the production efficiency of the pallet. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0018] Figure 1 This is a schematic diagram of an application scenario of a pallet production management method in some embodiments of the present application; Figure 2 This is a schematic diagram of the structure of a pallet transport device in some embodiments of the present application; Figure 3 A schematic diagram of a process of a pallet production management method in some embodiments of the present application; Figure 4 This is a flow chart of step S400 of the pallet production management method in some embodiments of the present application; Figure 5 This is a schematic diagram of the outer contour correction of the pallet transport equipment in some embodiments of the present application; Figure 6 This is a schematic diagram of the hardware structure of the pallet transport equipment in some embodiments of the present application.

[0019] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0020] 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.

[0021] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0022] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0023] In modern logistics and manufacturing, pallets are the basic unit for cargo transportation and storage. Their efficient and safe circulation is crucial to improving production efficiency. Pallet production management not only involves production quality control, but also covers the whole process management of the production process, such as transportation management, among which the transportation of pallets between different production areas is a key link. However, in actual operation, due to the limitations of production layout and the complexity of transportation routes, the pallet transportation process often faces many challenges, especially in areas prone to transportation obstacles.

[0024] Traditional pallet transportation management mainly relies on manual scheduling and experience judgment, which is not only inefficient, but also difficult to cope with complex and changing transportation environments. Especially between some specific production areas, such as the transfer process from the first production area to the second production area, due to narrow passages, uneven ground or other potential obstacles, pallet transportation equipment is very likely to collide or get stuck during driving, which not only affects production efficiency, but may also cause damage to equipment or pallets.

[0025] like Figure 1 As shown, when a pallet needs to be transferred from the first production area A100 to the second production area A200, and there is a narrow target channel A300 between the first production area and the second production area, it is necessary to ensure that the overall width of the pallet transport device after carrying the pallet is smaller than the width of the narrow target channel. In addition, considering that the pallet vibrates during the pallet transfer process, causing its position on the pallet transport device to shift, when the vibration offset of the pallet is large, it is easy to interfere with the narrow target channel, thereby affecting the production and transportation of the pallet.

[0026] To solve the above problems, Figure 1-Figure 5 As shown, the present application provides a pallet production management method. The following takes the pallet transportation equipment to perform the pallet production management method as an example. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described can be performed in a different order than here. Please refer to the attached Figure 3 The method includes the following steps S200 to S800: Step S200: obtaining initial outer contour information of the pallet transport equipment after stacking the pallets; It is understandable that the passing performance of the pallet transport equipment is not only affected by its own width, but also by the size of its load. For example, when the overall size of the pallet transport equipment after stacking the pallets is larger than the size of the passage, the pallet transport equipment carrying the pallets will not be able to pass through the passage. Therefore, in order to manage the driving path of the pallet transport equipment, it is first necessary to obtain the initial outer contour information of the pallet transport equipment after stacking the pallets. The initial outer contour information may include the width and length of the initial outer contour and the distance from each outer contour line to the center of the pallet transport equipment.

[0027] There are many ways to obtain the initial outer contour information, such as obtaining it through an image sensor or through a laser radar. Figure 2 As shown, a laser radar 110 is provided at the center position of the pallet transport device 100, and the step S200: obtaining the initial outer contour information of the pallet transport device after stacking the pallets includes: extracting the left initial outer contour and the right initial outer contour of the point cloud data obtained by the laser radar; respectively obtaining the distance information from the left initial outer contour and the right initial outer contour to the laser radar to obtain a first distance value and a second distance value; according to the mapping relationship between the laser radar coordinate system and the pallet transport device coordinate system, converting the first distance value and the second distance value into the distance from the left initial outer contour to the center of the pallet transport device and the distance from the right initial outer contour to the center of the pallet transport device.

[0028] Specifically, in an embodiment of the present application, a laser radar is installed at the center of the pallet transport equipment to scan the surrounding environment and generate point cloud data. The point cloud data contains detailed three-dimensional information about the pallet and its surrounding environment. From the point cloud data obtained by the laser radar, the distribution and density of the points are analyzed by a clustering algorithm to identify the left and right initial outer contours of the pallet. Then, for the identified left and right initial outer contours, their respective distances to the laser radar (i.e., the scanning center point) are calculated, i.e., the first distance value from the left initial outer contour to the laser radar, and the second distance value from the right initial outer contour to the laser radar. Since the data obtained by the laser radar is represented in its own coordinate system, it needs to be converted to the coordinate system of the pallet transport equipment. It usually involves applying a pre-established transformation matrix that describes the mapping relationship between the laser radar coordinate system and the pallet transport equipment coordinate system. After applying this transformation matrix, the first distance value and the second distance value will be converted to the distance from the left initial outer contour to the center of the pallet transport equipment (which can be the length direction or the width direction), and the distance from the right initial outer contour to the center of the pallet transport equipment (which can be the length direction or the width direction). After obtaining the distance from the left initial outer contour to the center of the pallet transport device and the distance from the right initial outer contour to the center of the pallet transport device, the length or width of the overall contour can be calculated.

[0029] Based on the above initial outer contour information (the distance from the left initial outer contour to the center of the pallet transport device, the distance from the right initial outer contour to the center of the pallet transport device, and the length or width of the overall contour), the relative position of the pallet above the pallet transport device can be known. Figure 4 As shown, contour lines L100 and L200 are the left initial contour and the right initial contour of the pallet transport equipment after stacking the pallets.

[0030] Step S400: performing a primary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain initial corrected outer contour information, wherein the historical position change data includes a left vibration offset value and a right vibration offset value; In the embodiment of the present application, it is considered that during the pallet transfer process, the pallet vibrates, which causes its position on the pallet transport device to shift. When the vibration offset of the pallet is large, it is easy to interfere with the narrow target channel, thereby affecting the production and transportation of the pallet. Therefore, it is necessary to perform a preliminary correction on the initial outer contour information based on the historical position change data of the pallet during the historical transportation process to obtain the initial corrected outer contour information, so as to consider in advance the pallet offset caused by the vibration that may occur during the transportation process.

[0031] In one embodiment, the step S400: performing a preliminary correction on the initial outer contour information according to the historical position change data of the pallet during the historical transportation process to obtain the preliminary corrected outer contour information includes: S410, obtaining left-side vibration offset values ​​and right-side vibration offset values ​​at different travel speeds and different load weights during historical transportation; S420. According to the current travel speed and load weight of the pallet transport device, the corresponding left vibration offset value and right vibration offset value are selected from the historical data to perform initial correction to obtain initial correction outer contour information.

[0032] Specifically, the left-side vibration offset value and the right-side vibration offset value of the pallet at different driving speeds and different load weights during historical transportation can be collected. These data reflect the vibration characteristics of the pallet under different conditions. Then, in the current pallet transportation task, the corresponding left-side vibration offset value and right-side vibration offset value are selected from the historical data according to the driving speed of the transportation equipment and the load weight of the pallet. This step ensures the relevance and accuracy of the correction data. The selected left and right vibration offset values ​​are then used to perform the initial correction on the initial outer contour information of the pallet. The purpose of the correction is to adjust the expected position of the pallet to reflect the vibration offset that may occur during transportation. After the initial correction, the initial corrected outer contour information is obtained (including information such as the position of the left and right contours relative to the pallet transportation equipment after the initial correction). This information can be used for subsequent path planning, collision detection and other links to ensure that the pallet does not interfere with narrow passages during transportation. For example Figure 4 As shown, contour lines L110 and L210 are the left contour and the right contour after the initial correction of the outer contour information.

[0033] Step S600: re-correcting the initially corrected outer contour information according to the outer contour correction coefficient preset by the user to obtain target outer contour information, wherein the outer contour correction coefficient is an outer contour position change correction coefficient determined by the user according to the actual situation on the ground, and the target outer contour information at least includes target outer contour size information, a distance from the left virtual contour to the center of the pallet transport device, and a distance from the right virtual contour to the center of the pallet transport device; It can be understood that the historical position change data during historical transportation is only the pallet position change information obtained under the historical transportation environment. If the ground in the current transportation environment is uneven or there are many ground obstacles, resulting in an increase in the number of obstacle avoidance actions required by the pallet transportation equipment or an increase in the number of emergency stops and starts, the vibration offset of the pallet may be further increased, thereby causing the outer contour of the pallet to further change.

[0034] Therefore, after obtaining the initial corrected outer contour information, it is necessary to correct the initial corrected outer contour information again according to the outer contour correction coefficient pre-set by the user to obtain the target outer contour information, wherein the outer contour correction coefficient can be an outer contour position change correction coefficient determined by the user according to the flatness of the ground, or an outer contour position change correction coefficient determined by the user according to the obstacle conditions on the ground.

[0035] For example, assuming that the user knows that the ground of the current transportation route has many potholes or slope changes, they may set a larger correction factor to increase the safety margin of the pallet's outer contour. For example, if the width of the initial correction outer contour is 1.2 meters, the user may set a correction factor of 1.1, so that the width of the target outer contour will increase to approximately 1.32 meters. If there are many fixed obstacles (such as pillars, shelves, etc.) on the transportation route, the user may set the correction factor based on the density and distribution of the obstacles. For example, in an area with dense obstacles, the user may choose a larger correction factor to ensure that the pallet does not collide with obstacles during obstacle avoidance. Figure 2 As shown, the user can set the outer contour correction coefficient through the control screen 120.

[0036] In order to further accurately adjust the outer contour of the pallet to adapt to the complex transportation environment, the asymmetric vibration offset of the left and right sides of the pallet that may occur during transportation can be considered. Therefore, in one embodiment, the outer contour correction coefficient includes a left outer contour correction coefficient and a right outer contour correction coefficient, and the step S600: re-correcting the initial corrected outer contour information according to the outer contour correction coefficient preset by the user to obtain the target outer contour information, including: multiplying the distance from the left virtual contour in the initial corrected outer contour information to the center of the pallet transportation equipment by the left outer contour correction coefficient to obtain the corrected distance from the left virtual contour to the center of the pallet transportation equipment; multiplying the distance from the right virtual contour in the initial corrected outer contour information to the center of the pallet transportation equipment by the right outer contour correction coefficient to obtain the corrected distance from the right virtual contour to the center of the pallet transportation equipment; determining the target outer contour size information according to the corrected distance from the left virtual contour to the center of the pallet transportation equipment and the distance from the right virtual contour to the center of the pallet transportation equipment.

[0037] Specifically, you can first take out the distance from the left virtual contour in the initial corrected outer contour information to the center of the pallet transport equipment. Then multiply this distance by the left outer contour correction coefficient preset by the user to obtain the distance from the corrected left virtual contour to the center of the pallet transport equipment. Similarly, take out the distance from the right virtual contour to the center of the pallet transport equipment in the initial corrected outer contour information, and multiply this distance by the right outer contour correction coefficient preset by the user to obtain the distance from the corrected right virtual contour to the center of the pallet transport equipment. Finally, based on the distances from the corrected left and right virtual contours to the center of the pallet transport equipment, the width of the target outer contour can be determined. If necessary, other dimensions in the initial corrected outer contour information (such as height, depth, etc.) can also be combined to determine the complete target outer contour size information. Figure 4 As shown, the contour lines L120 and L220 are the left contour and the right contour after the outer contour information is corrected again.

[0038] Step S800: When the target outer contour dimension information matches the dimension information of the target channel, a target driving path of the pallet transport device when passing through the target channel is determined according to the target outer contour dimension information and historical position change data.

[0039] It can be understood that when the target outer contour dimension (dimension in width direction) is smaller than the width dimension of the target channel, it means that the target outer contour dimension information matches the dimension information of the target channel, and at this time, it can be determined that the pallet transport device can basically pass through the target channel. In this way, the target driving path of the pallet transport device when passing through the target channel can be determined based on the target outer contour dimension information and the historical position change data to ensure that the pallet transport device does not collide with the target channel when passing through the target channel. When the target outer contour dimension (dimension in width direction) is larger than the width dimension of the target channel, it means that the target outer contour dimension information does not match the dimension information of the target channel. At this time, a transportation obstacle warning signal can be triggered, such as a voice prompt. The voice prompt transportation obstacle warning signal is used to prompt the user to adjust the stacking position of the pallet to adjust the initial outer contour information of the pallet transport device after stacking the pallet, so as to ensure that the pallet transport device does not collide with the target channel when passing through the target channel.

[0040] In one embodiment, the step of determining the target driving path of the pallet transport device when passing through the target channel according to the target outer contour dimension information and the historical position change data includes: Determine the relationship between the difference between the left vibration offset value and the right vibration offset value and a preset difference value, and the magnitude relationship between the left vibration offset value and the right vibration offset value; When the difference between the left vibration offset value and the right vibration offset value is greater than a preset difference and the left vibration offset value is greater than the right vibration offset value, a first target driving path is determined to control the distance from the left virtual contour to the left wall of the pallet transport device to be greater than the distance from the right virtual contour to the right wall when the pallet transport device passes through the target channel; When the difference between the left vibration offset value and the right vibration offset value is greater than a preset difference and the left vibration offset value is less than the right vibration offset value, a second target driving path is determined to control the distance from the left virtual contour to the left wall of the pallet transport device when passing through the target channel to be less than the distance from the right virtual contour to the right wall; When the difference between the left vibration offset value and the right vibration offset value is less than a preset difference, a third target driving path is determined to control the distance from the left virtual contour to the left wall and the distance from the right virtual contour to the right wall to be approximately equal when the pallet transport equipment passes through the target channel.

[0041] Specifically, the relationship between the difference between the left vibration offset value and the right vibration offset value in the historical position change data and the preset difference can be first compared. If the difference is greater than the preset difference and the left vibration offset value is greater than the right, it means that the left side of the pallet is more likely to collide. At this time, the first target driving path is determined, and the first target driving path increases the distance between the left virtual contour and the left wall when the pallet transport device passes through the target channel. If the difference is greater than the preset difference and the left vibration offset value is less than the right, it means that the right side of the pallet is more likely to collide. At this time, the second target driving path is determined, and the second target driving path increases the distance between the right virtual contour and the right wall when the pallet transport device passes through the channel. If the difference is less than the preset difference, it means that the vibration offsets on the left and right sides are relatively balanced. At this time, the third target driving path is determined, and the third target driving path makes the distance between the left and right sides of the pallet transport device and the wall approximately equal when passing through the channel.

[0042] Thus, the embodiment of the present application provides a flexible and safe method for determining the travel path of a pallet transport device by comprehensively considering the target outer contour dimension information and the relationship between the left and right vibration offset values ​​in the historical position change data. This method helps ensure the safe transportation of pallet transport devices in complex transportation environments while improving transportation efficiency and safety.

[0043] In another embodiment, the ratio of the distance between the left virtual outline and the left wall and the distance between the right virtual outline and the right wall when the pallet transport device passes through the target channel can be determined according to the ratio of the left vibration offset value to the right vibration offset value.

[0044] Specifically, first extract the vibration offset values ​​on the left and right sides from the historical position change data. Then calculate the ratio of these two values, that is, the vibration offset value on the left divided by the vibration offset value on the right. Then, based on the calculated vibration offset value ratio, determine the ratio of the distance between the left virtual contour and the left wall, and the distance between the right virtual contour and the right wall when the pallet transport equipment passes through the channel. This ratio should maintain a certain correspondence with the ratio of the vibration offset values ​​to ensure that the pallet can maintain a safe distance from the channel wall during transportation. According to the determined distance ratio, adjust the travel path of the pallet transport equipment. If the vibration offset on the left is large, increase the distance between the left virtual contour and the left wall, and correspondingly reduce the distance between the right virtual contour and the right wall (or vice versa). The purpose of the adjustment is to ensure that when the pallet passes through the target channel, both the left and right sides can maintain sufficient safety margins to avoid collisions with the wall.

[0045] In one embodiment, after determining the target travel path of the pallet transport device when passing through the target channel, the method further includes: When the pallet transport equipment passes through the target channel, the point cloud data of the laser radar is acquired in real time, and the outer contour information of the target is monitored in real time based on the real-time point cloud data of the laser radar; When it is detected that the target outer contour information changes and the change exceeds a preset change threshold, the target driving path is re-determined.

[0046] Specifically, after the pallet transport equipment starts to pass through the target channel, the point cloud data of the laser radar is acquired in real time. The laser radar can scan the surrounding environment and generate a high-precision three-dimensional point cloud map. These point cloud data contain the precise location information of the pallet and its surrounding environment. Using the real-time point cloud data of the laser radar, the outer contour information of the pallet transport equipment is monitored in real time, and two outer contour corrections are performed to obtain the target outer contour information. When the system detects that the target outer contour information has changed, these changes are calculated. If the change exceeds the preset change threshold (this threshold should be set according to actual conditions to ensure a safety margin), the process of redetermining the target driving path is triggered. When redetermining the target driving path, the distance between the virtual contours on the left and right sides and the wall can be recalculated based on the new point cloud data, and the driving path can be adjusted to ensure safety.

[0047] In order to further improve the safety of the pallet transport equipment when passing through the target channel, in one embodiment, the pallet production management method of the present application further includes: When the pallet transport device passes through the target channel, the travel speed of the pallet transport device is dynamically adjusted according to a pre-trained speed correction model, wherein the speed correction model satisfies the following expression: ; Where V is the adjusted driving speed, is the initially set driving speed; S is the width of the target channel, D is the target outer contour width in the target outer contour size information; L is the real-time distance from the left virtual contour to the left wall, and R is the real-time distance from the right virtual contour to the right wall.

[0048] Specifically, the embodiment of the present application obtains the above-mentioned speed correction model formula through a large amount of data training. And referring to the speed correction model formula in the embodiment of the present application, when the pallet transport equipment passes through the target channel, it can dynamically adjust the speed in real time in combination with the remaining space SD of the channel and the balance of the left and right lateral positions (the relationship between L and R). If the outer contour of the target is close to the width of the channel, the speed is actively reduced to reserve more reaction time to avoid collision. If the equipment is biased to one side of the channel, the speed is also reduced to ensure the balance of transportation. If there is sufficient remaining space and the left and right positions are balanced, the speed is maintained at a high level to ensure transportation efficiency. In this way, the dynamic speed control of "safety first, taking efficiency into consideration" is realized, and the safety and stability of the pallet transport equipment when passing through the target channel are improved.

[0049] Based on this, the pallet production management method provided in the embodiment of the present application aims at the traffic obstacles that the pallet may encounter during transportation. It obtains the initial outer contour information of the pallet transport equipment after stacking the pallets, and combines the position change data in the historical transportation (including the left and right vibration offset values) for the first correction, and then performs a second correction based on the outer contour correction coefficient set by the user according to the actual ground conditions to obtain accurate target outer contour information. On the premise that the target outer contour matches the channel size, the optimal driving path is determined based on this information and the historical position change data, thereby effectively improving the transportation efficiency and safety of the pallet in the target channel prone to obstacles, thereby improving the production efficiency of the pallet.

[0050] An embodiment of the present application also provides a pallet production management device, which includes: an acquisition module, used to acquire initial outer contour information of a pallet transport device after stacking pallets; an initial correction module, used to perform initial correction on the initial outer contour information according to historical position change data of the pallet during transportation to obtain initial corrected outer contour information; a secondary correction module, used to perform secondary correction on the initial corrected outer contour information according to an outer contour correction coefficient pre-set by a user to obtain target outer contour information; a target driving path determination module, used to determine the target driving path of the pallet transport device when it passes through the target channel according to the target outer contour size information and the historical position change data when the target outer contour size information matches the size information of the target channel.

[0051] like Figure 6 As shown, Figure 6This is a schematic diagram of the hardware structure of the pallet transport equipment in some embodiments of the present application. The pallet transport equipment provided in the embodiments of the present application also includes a memory 1000 and a processor 2000, wherein the memory 1000 is used to store computer-readable instructions, and the processor 2000 is used to call the computer-readable instructions to execute the pallet production management method as described above.

[0052] Among them, the processor 2000 is used to provide computing and control capabilities to control the pallet transport equipment to perform corresponding tasks, for example, to control the pallet transport equipment to perform the pallet production management method in any of the above-mentioned method embodiments, the method comprising: obtaining initial outer contour information of the pallet transport equipment after stacking the pallets; performing initial correction on the initial outer contour information according to the historical position change data of the pallet during the historical transportation process to obtain initial corrected outer contour information, the historical position change data including the left vibration offset value and the right vibration offset value; performing further correction on the initial corrected outer contour information according to the outer contour correction coefficient pre-set by the user to obtain the target outer contour information, the outer contour correction coefficient is the outer contour position change correction coefficient determined by the user according to the actual situation of the ground, the target outer contour information at least includes the target outer contour size information, the distance from the left virtual contour to the center of the pallet transport equipment, and the distance from the right virtual contour to the center of the pallet transport equipment; when the target outer contour size information matches the size information of the target channel, determining the target driving path of the pallet transport equipment when passing through the target channel according to the target outer contour size information and the historical position change data.

[0053] The processor 2000 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or any combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0054] The memory 1000, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the pallet production management method in the embodiments of the present application. The processor 2000 can implement the pallet production management method in any of the above method embodiments by running the non-transitory software programs, instructions and modules stored in the memory 1000.

[0055] Specifically, the memory 1000 may include a volatile memory (VM), such as a random access memory (RAM); the memory 1000 may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD) or other non-transitory solid-state storage device; the memory 1000 may also include a combination of the above-mentioned types of memory.

[0056] In summary, the pallet transport equipment of the present application adopts the technical solution of any one of the above-mentioned pallet production management method embodiments, and therefore, has at least the beneficial effects brought by the technical solution of the above-mentioned embodiments, which will not be described one by one here.

[0057] The present application also provides a computer-readable storage medium, such as a memory including a program code, and the program code can be executed by a processor to complete the pallet production management method in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0058] The present application also provides a computer program product, which includes one or more program codes stored in a computer-readable storage medium. The processor of the early warning system reads the program code from the computer-readable storage medium, and the processor executes the program code to complete the steps of the pallet production management method provided in the above embodiment.

[0059] A person skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be accomplished by hardware or by hardware associated with a program code, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0060] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0061] Through the description of the above embodiments, it can be clearly understood by those skilled in the art that each embodiment can be implemented by means of software plus a general hardware platform, or by hardware. It can be understood by those skilled in the art that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0062] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A pallet production management method, characterized in that: A pallet transport device for transporting pallets from a first production area to a second production area, wherein a target passage prone to traffic obstruction is formed between the first production area and the second production area, the method comprising: Obtain the initial outer contour information of the pallet transport equipment after stacking the pallets; Performing a primary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain initial corrected outer contour information, wherein the historical position change data includes a left vibration offset value and a right vibration offset value; The initially corrected outer contour information is corrected again according to the outer contour correction coefficient preset by the user to obtain the target outer contour information, wherein the outer contour correction coefficient is the outer contour position change correction coefficient determined by the user according to the actual situation on the ground, and the target outer contour information at least includes the target outer contour size information, the distance from the left virtual contour to the center of the pallet transport device, and the distance from the right virtual contour to the center of the pallet transport device; When the target outer contour dimension information matches the dimension information of the target channel, the target travel path of the pallet transport device when passing through the target channel is determined according to the target outer contour dimension information and the historical position change data.

2. The pallet production management method according to claim 1, characterized in that: A laser radar is provided at the center of the pallet transport device, and the initial outer contour information of the pallet transport device after stacking the pallets includes: Extracting a left initial outer contour and a right initial outer contour of the point cloud data acquired by the laser radar; Respectively obtain the distance information from the left initial outer contour and the right initial outer contour to the laser radar to obtain a first distance value and a second distance value; According to the mapping relationship between the laser radar coordinate system and the pallet transport equipment coordinate system, the first distance value and the second distance value are converted into the distance from the left initial outer contour to the center of the pallet transport equipment and the distance from the right initial outer contour to the center of the pallet transport equipment.

3. The pallet production management method according to claim 1, characterized in that: The initial correction of the initial outer contour information according to the historical position change data of the pallet during the historical transportation process to obtain the initial corrected outer contour information includes: Obtain the left vibration offset value and the right vibration offset value at different driving speeds and different load weights during historical transportation; According to the current travel speed and load weight of the pallet transport equipment, the corresponding left vibration offset value and right vibration offset value are selected from the historical data for initial correction to obtain the initial correction outer contour information.

4. The pallet production management method according to claim 1, characterized in that: The outer contour correction coefficient includes a left outer contour correction coefficient and a right outer contour correction coefficient, and the initial correction outer contour information is corrected again according to the outer contour correction coefficient preset by the user to obtain the target outer contour information, including: The distance from the left virtual contour in the initial correction outer contour information to the center of the pallet transport device is multiplied by the left outer contour correction coefficient to obtain the corrected distance from the left virtual contour to the center of the pallet transport device; The distance from the right virtual contour in the initial correction outer contour information to the center of the pallet transport device is multiplied by the right outer contour correction coefficient to obtain the corrected distance from the right virtual contour to the center of the pallet transport device; The target outer contour dimension information is determined according to the corrected distance from the left virtual contour to the center of the pallet transport device and the distance from the right virtual contour to the center of the pallet transport device.

5. The pallet production management method according to claim 1, characterized in that: After the initially corrected outer contour information is corrected again according to the outer contour correction coefficient preset by the user to obtain the target outer contour information, the method further includes: When the target outer contour dimension information does not match the dimension information of the target channel, a transport obstacle warning signal is triggered, and the transport obstacle warning signal is used to prompt the user to adjust the stacking position of the pallet to adjust the initial outer contour information of the pallet transport equipment after stacking the pallets.

6. The pallet production management method according to claim 1, characterized in that: The step of determining the target driving path of the pallet transport device when passing through the target channel according to the target outer contour dimension information and the historical position change data includes: Determine the relationship between the difference between the left vibration offset value and the right vibration offset value and a preset difference value, and the magnitude relationship between the left vibration offset value and the right vibration offset value; When the difference between the left vibration offset value and the right vibration offset value is greater than a preset difference and the left vibration offset value is greater than the right vibration offset value, a first target driving path is determined to control the distance from the left virtual contour to the left wall of the pallet transport device to be greater than the distance from the right virtual contour to the right wall when the pallet transport device passes through the target channel; When the difference between the left vibration offset value and the right vibration offset value is greater than a preset difference and the left vibration offset value is less than the right vibration offset value, a second target driving path is determined to control the distance from the left virtual contour to the left wall of the pallet transport device when passing through the target channel to be less than the distance from the right virtual contour to the right wall; When the difference between the left vibration offset value and the right vibration offset value is less than a preset difference, a third target driving path is determined to control the distance from the left virtual contour to the left wall and the distance from the right virtual contour to the right wall to be approximately equal when the pallet transport equipment passes through the target channel.

7. The pallet production management method according to claim 1, characterized in that: After determining the target travel path of the pallet transport device when passing through the target channel, the method further includes: When the pallet transport equipment passes through the target channel, the point cloud data of the laser radar is acquired in real time, and the target outer contour information is monitored in real time based on the real-time point cloud data of the laser radar; When it is detected that the target outer contour information changes and the change exceeds a preset change threshold, the target driving path is re-determined.

8. The pallet production management method according to claim 1, characterized in that: The method further comprises: When the pallet transport device passes through the target channel, the travel speed of the pallet transport device is dynamically adjusted according to a pre-trained speed correction model, wherein the speed correction model satisfies the following expression: ； Where V is the adjusted driving speed, is the initially set driving speed; S is the width of the target channel, D is the target outer contour width in the target outer contour size information; L is the real-time distance from the left virtual contour to the left wall, and R is the real-time distance from the right virtual contour to the right wall.

9. A pallet production management device, characterized in that: include: An acquisition module is used to acquire initial outer contour information of pallets after the pallet transport equipment stacks the pallets; An initial correction module is used to perform initial correction on the initial outer contour information according to the historical position change data of the pallet during transportation to obtain initial corrected outer contour information; A re-correction module is used to re-correct the initially corrected outer contour information according to the outer contour correction coefficient preset by the user to obtain the target outer contour information; The target driving path determination module is used to determine the target driving path of the pallet transport equipment when it passes through the target channel according to the target outer contour size information and historical position change data when the target outer contour size information matches the size information of the target channel.

10. A pallet transport device, characterized in that: include: A memory and a processor, wherein the memory is used to store program codes; The processor is used to call the program code to execute the method according to any one of claims 1 to 8.

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