Pallet production management method, device, equipment and storage medium

Abstract

The present application relates to the field of production management technology and discloses a pallet production management method, apparatus, equipment, and storage medium. This method addresses potential traffic obstacles encountered during pallet transportation by obtaining initial outer contour information from pallet transport equipment after stacking the pallets. This information is then combined with historical position change data from transportation (including left and right vibration offset values) for initial correction. This correction is then performed again based on an outer contour correction coefficient set by the user based on actual ground conditions to obtain accurate target outer contour information. Under the premise that the target outer contour matches the channel dimensions, the optimal travel path is determined based on this information and historical position change data, effectively improving the transportation efficiency and safety of pallets in target channels prone to obstacles, thereby increasing pallet production efficiency.

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 serve as the fundamental unit for cargo transportation and storage. Their efficient and safe circulation is crucial for improving production efficiency. Pallet production management encompasses not only quality control but also the entire production process, including transportation management. The transportation of pallets between production areas is a critical step. However, in practice, due to the limitations of production layouts and the complexity of transportation routes, pallet transportation often presents numerous challenges, especially in areas prone to transportation obstacles.

[0003] Traditional pallet transport management relies primarily on manual scheduling and empirical judgment, an approach that is not only inefficient but also struggles to cope with complex and changing transport environments. This is particularly true when transporting between specific production areas, such as from the first to the second, where narrow aisles, uneven surfaces, or other potential obstacles can easily cause collisions or jams in pallet transport equipment. This not only impacts production efficiency but can also damage the equipment or the 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 objectives, in a first aspect, embodiments of the present application provide a pallet production management method, which is applied to pallet transport equipment that transports pallets from a first production area to a second production area, wherein a target passage prone to transportation obstacles is formed between the first production area and the second production area, the method comprising:

[0006] Obtain the initial outer contour information of the pallet transport equipment after stacking the pallets;

[0007] Performing a preliminary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain preliminary corrected outer contour information, wherein the historical position change data includes a left vibration offset value and a right vibration offset value;

[0008] The initially corrected outer contour information is corrected again according to an 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 ground conditions, and the target outer contour information includes at least 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;

[0009] 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.

[0010] In a possible implementation, a laser radar is provided at the center of the pallet transport device, and obtaining initial outer contour information of the pallet transport device after stacking the pallets includes:

[0011] Extracting a left initial outer contour and a right initial outer contour of the point cloud data acquired by the laser radar;

[0012] Obtaining 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 respectively;

[0013] 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.

[0014] In a possible implementation, performing a preliminary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain preliminary corrected outer contour information includes:

[0015] Obtain the left and right vibration offset values ​​at different driving speeds and different load weights during historical transportation;

[0016] 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.

[0017] 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 initial corrected outer contour information according to the outer contour correction coefficient preset by the user to obtain the target outer contour information includes:

[0018] Multiply the distance from the left virtual contour in the initial correction outer contour information to the center of the pallet transport device 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;

[0019] Multiply the distance from the right virtual contour in the initial correction outer contour information to the center of the pallet transport device 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;

[0020] 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.

[0021] 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:

[0022] 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.

[0023] In a possible implementation, 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:

[0024] Determining a relationship between a difference between the left vibration offset value and the right vibration offset value and a preset difference value, and a magnitude relationship between the left vibration offset value and the right vibration offset value;

[0025] 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, determining a first target driving path to control the pallet transport device so that the distance from the left virtual outline to the left wall is greater than the distance from the right virtual outline to the right wall when passing through the target channel;

[0026] 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, determining a second target driving path to control the pallet transport device so that the distance from the left virtual outline to the left wall is less than the distance from the right virtual outline to the right wall when passing through the target channel;

[0027] 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 pallet transport equipment so that the distance from the left virtual contour to the left wall is approximately equal to the distance from the right virtual contour to the right wall when passing through the target channel.

[0028] 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:

[0029] 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;

[0030] When the target outer contour information is detected to have changed and the change exceeds a preset change threshold, the target driving path is re-determined.

[0031] In a possible implementation, the method further includes:

[0032] 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:

[0033]

[0034] 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.

[0035] In a second aspect, an embodiment of the present application further provides a pallet production management device, comprising:

[0036] An acquisition module is used to obtain initial outer contour information of pallets after being stacked by pallet transport equipment;

[0037] 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;

[0038] 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;

[0039] The target driving path determination module is used to determine the target driving path of the pallet transport equipment when passing through the target channel according to the target outer contour dimension information and historical position change data when the target outer contour dimension information matches the dimension information of the target channel.

[0040] 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 code; and the processor is used to call the program code to execute the method described in the first aspect.

[0041] 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.

[0042] Differentiating from existing technologies, the present invention provides a pallet production management method that addresses potential traffic obstacles encountered during pallet transportation. This method obtains initial contour information from pallet transport equipment after stacking the pallets, combines this information with historical position change data (including left and right vibration offset values) for initial correction, and then performs a second correction based on a user-defined contour correction coefficient based on actual ground conditions, ultimately obtaining precise target contour information. Assuming the target contour matches the channel dimensions, the optimal travel path is determined based on this information and historical position change data. This effectively improves the efficiency and safety of pallet transportation in target channels prone to obstacles, thereby increasing pallet production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0044] Figure 1 This is a schematic diagram of an application scenario of the pallet production management method in some embodiments of the present application;

[0045] Figure 2 This is a schematic structural diagram of a pallet transport device in some embodiments of the present application;

[0046] Figure 3 This is a flowchart of a pallet production management method in some embodiments of the present application;

[0047] Figure 4 This is a flow chart of step S400 of the pallet production management method in some embodiments of the present application;

[0048] Figure 5 This is a schematic diagram of the outer contour correction of the pallet transport equipment in some embodiments of the present application;

[0049] Figure 6 This is a schematic diagram of the hardware structure of the pallet transport equipment in some embodiments of the present application.

[0050] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0051] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0052] 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 various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0053] In addition, the descriptions of "first", "second", etc. in the present invention are only 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 they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0054] In modern logistics and manufacturing, pallets serve as the fundamental unit for cargo transportation and storage. Their efficient and safe circulation is crucial for improving production efficiency. Pallet production management encompasses not only quality control but also the entire production process, including transportation management. The transportation of pallets between production areas is a critical step. However, in practice, due to the limitations of production layouts and the complexity of transportation routes, pallet transportation often presents numerous challenges, especially in areas prone to transportation obstacles.

[0055] Traditional pallet transport management relies primarily on manual scheduling and empirical judgment, an approach that is not only inefficient but also struggles to cope with complex and changing transport environments. This is particularly true when transporting between specific production areas, such as from the first to the second, where narrow aisles, uneven surfaces, or other potential obstacles can easily cause collisions or jams in pallet transport equipment. This not only impacts production efficiency but can also damage the equipment or the pallets.

[0056] 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 a narrow target aisle A300 exists between the first and second production areas, it is necessary to ensure that the overall width of the pallet transporter after loading the pallet is smaller than the width of the narrow target aisle. Furthermore, considering that the pallet may vibrate during transfer, causing its position on the pallet transporter to shift, if the vibration shift is large, it is easy for the pallet to interfere with the narrow target aisle, thus affecting the production and transportation of the pallet.

[0057] 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:

[0058] Step S200: obtaining initial outer contour information of pallets after being stacked by the pallet transport equipment;

[0059] It's understandable that a pallet transporter's ability to pass through a passageway is affected not only by its width but also by the size of its load. For example, if the pallet transporter's overall dimensions, after stacking pallets, are larger than the dimensions of an aisle, the transporter, loaded with pallets, will be unable to pass through the aisle. Therefore, to manage the pallet transporter's travel path, it's necessary to first obtain the initial outline of the pallet transporter after stacking the pallets. This initial outline information can include the initial outline's width, length, and the distances between each outline line and the center of the pallet transporter.

[0060] There are many ways to obtain the initial outer contour information, such as obtaining it through an image sensor or obtaining it through a laser radar. In one embodiment, Figure 2As 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 of 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.

[0061] Specifically, in an embodiment of the present application, a laser radar is mounted at the center of the pallet transport system to scan its surroundings and generate point cloud data. This point cloud data contains detailed three-dimensional information about the pallet and its surroundings. A clustering algorithm is used to analyze the distribution and density of points in the point cloud data captured by the laser radar to identify the left and right initial outer contours of the pallet. For each of these identified left and right initial outer contours, the distances from the laser radar (i.e., the scanning center point) are calculated: a first distance from the left initial outer contour to the laser radar, and a second distance from the right initial outer contour to the laser radar. Since the data captured by the laser radar is expressed in its own coordinate system, it must be converted to the coordinate system of the pallet transport system. This typically involves applying a pre-established transformation matrix that describes the mapping between the laser radar coordinate system and the pallet transport system's coordinate system. After applying this transformation matrix, the first and second distance values ​​are converted to the distances (either in the length or width direction) from the left initial outer contour to the center of the pallet transport system, and the distances (either in the length or width direction) from the right initial outer contour to the center of the pallet transport system. 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.

[0062] 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 determined. Figure 5 As shown, the contour lines L100 and L200 are the left initial contour and the right initial contour of the pallet transport equipment after the pallets are stacked.

[0063] Step S400: performing a preliminary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain preliminary corrected outer contour information, wherein the historical position change data includes a left vibration offset value and a right vibration offset value;

[0064] In the embodiments of the present application, the pallet may vibrate during transport, causing its position to shift on the pallet transport equipment. Large pallet vibrations can easily cause it to interfere with narrow target passages, thus affecting the pallet's production and transportation. Therefore, it is necessary to perform a preliminary correction of the initial outer contour information based on the pallet's historical position change data during transport to obtain preliminary corrected outer contour information. This is to account for potential pallet deviations caused by vibrations during transport.

[0065] In one embodiment, the step S400 of performing a preliminary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain preliminary corrected outer contour information includes:

[0066] S410, obtaining left-side vibration offset values ​​and right-side vibration offset values ​​at different travel speeds and different load weights during historical transportation;

[0067] S420 , according to the current travel speed and load weight of the pallet transport device, select the corresponding left vibration offset value and right vibration offset value from the historical data for initial correction to obtain initial correction outer contour information.

[0068] Specifically, the left vibration offset value and the right 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 vibration offset value and right 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. Such as Figure 5 As shown, the contour lines L110 and L210 are the left contour and the right contour after the initial correction of the outer contour information.

[0069] Step S600: The initially corrected outer contour information is re-corrected according to an outer contour correction coefficient preset by the user to obtain target outer contour information. The outer contour correction coefficient is an outer contour position change correction coefficient determined by the user based on the actual ground conditions. The target outer contour information includes at least 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.

[0070] 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.

[0071] Therefore, after obtaining the initial corrected outer contour information, it is necessary to re-correct 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, wherein the outer contour correction coefficient can be the outer contour position change correction coefficient determined by the user based on the flatness of the ground, or the outer contour position change correction coefficient determined by the user based on the obstacle situation on the ground.

[0072] For example, assuming that the user knows that there are many potholes or slope changes on the ground of the current transportation route, they may set a larger correction factor to increase the safety margin of the outer contour of the pallet. 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 about 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 according to 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 will not collide with obstacles during the obstacle avoidance process. Figure 2 As shown, the user can set the outer contour correction coefficient through the control screen 120.

[0073] In order to further accurately adjust the outer contour of the pallet to adapt to complex transportation environments, 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. Step S600: re-correcting 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, including: multiplying the distance from the left virtual contour in the initial corrected outer contour information to the center of the pallet transport device 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; multiplying the distance from the right virtual contour in the initial corrected outer contour information to the center of the pallet transport device 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; and determining the target outer contour size information based on the corrected distances from the left virtual contour to the center of the pallet transport device and the distances from the right virtual contour to the center of the pallet transport device.

[0074] Specifically, you can first take out the distance from the left virtual contour in the initial correction outer contour information to the center of the pallet transport device. Then multiply this distance by the left outer contour correction coefficient pre-set by the user to obtain the distance from the corrected left virtual contour to the center of the pallet transport device. Similarly, take out the distance from the right virtual contour in the initial correction outer contour information to the center of the pallet transport device, and multiply this distance by the right outer contour correction coefficient pre-set by the user to obtain the distance from the corrected right virtual contour to the center of the pallet transport device. Finally, based on the distances from the corrected left and right virtual contours to the center of the pallet transport device, the width of the target outer contour can be determined. If necessary, other dimensions in the initial correction outer contour information (such as height, depth, etc.) can also be combined to determine the complete target outer contour size information. Figure 5 As shown, the contour lines L120 and L220 are the left contour and the right contour after the outer contour information is corrected again.

[0075] 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.

[0076] It can be understood that when the target outer contour dimension (width dimension) is smaller than the width dimension of the target channel, it indicates that the target outer contour dimension information matches the dimension information of the target channel. 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 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 (width dimension) is larger than the width dimension of the target channel, it indicates that the target outer contour dimension information does not match the dimension information of the target channel. At this time, a transport obstacle warning signal can be triggered, such as a voice prompt. This voice prompt 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 device after stacking the pallets, thereby ensuring that the pallet transport device does not collide with the target channel when passing through the target channel.

[0077] In one embodiment, the step of determining a target driving path of the pallet transport device when passing through the target channel based on target outer contour dimension information and historical position change data includes:

[0078] Determining a relationship between a difference between the left vibration offset value and the right vibration offset value and a preset difference value, and a magnitude relationship between the left vibration offset value and the right vibration offset value;

[0079] 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, determining a first target driving path to control the pallet transport device so that the distance from the left virtual outline to the left wall is greater than the distance from the right virtual outline to the right wall when passing through the target channel;

[0080] 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, determining a second target driving path to control the pallet transport device so that the distance from the left virtual outline to the left wall is less than the distance from the right virtual outline to the right wall when passing through the target channel;

[0081] 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 pallet transport equipment so that the distance from the left virtual contour to the left wall is approximately equal to the distance from the right virtual contour to the right wall when passing through the target channel.

[0082] Specifically, the difference between the left-side vibration offset value and the right-side vibration offset value in the historical position change data can be compared with a preset difference. If the difference is greater than the preset difference and the left-side vibration offset value is greater than the right-side vibration offset value, it means that the left side of the pallet is more likely to collide. In this case, a first target driving path is determined, which 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-side vibration offset value is less than the right-side vibration offset value, it means that the right side of the pallet is more likely to collide. In this case, a second target driving path is determined, which increases the distance between the right-side 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. In this case, a third target driving path is determined, which ensures that the distances between the left and right sides of the pallet transport device and the wall are approximately equal when passing through the channel.

[0083] Thus, the present embodiment provides a flexible and secure method for determining the travel path of a pallet transporter by comprehensively considering the relationship between the target's outer contour dimensions and the left and right vibration offset values ​​in historical position change data. This method helps ensure the safe transportation of pallet transporters in complex transportation environments while improving transportation efficiency and safety.

[0084] 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.

[0085] Specifically, the left and right vibration offset values ​​are first extracted from historical position change data. The ratio of these two values ​​is then calculated: the left vibration offset value divided by the right vibration offset value. Based on this calculated vibration offset ratio, 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, of the pallet transporter as it passes through the aisle is determined. This ratio should correspond to the vibration offset ratio to ensure that the pallet maintains a safe distance from the aisle walls during transport. Based on the determined distance ratio, the pallet transporter's travel path is adjusted. If the left vibration offset is greater, the distance between the left virtual contour and the left wall is increased, while the distance between the right virtual contour and the right wall is correspondingly decreased (or vice versa). This adjustment ensures that when the pallet passes through the target aisle, sufficient safety margin is maintained on both sides to avoid collisions with the walls.

[0086] In one embodiment, after determining the target travel path of the pallet transport device when passing through the target channel, the method further includes:

[0087] 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;

[0088] When the target outer contour information is detected to have changed and the change exceeds a preset change threshold, the target driving path is re-determined.

[0089] Specifically, after the pallet transport equipment starts to pass through the target channel, the point cloud data of the lidar is acquired in real time. The lidar is capable of scanning the surrounding environment and generating 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 lidar, 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 changes in the target outer contour information, 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.

[0090] 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:

[0091] 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:

[0092]

[0093] 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.

[0094] 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 deviates to one side of the channel, the speed is also reduced to ensure transportation balance. 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, dynamic speed control of "safety first, taking efficiency into consideration" is achieved, and the safety and stability of the pallet transport equipment when passing through the target channel are improved.

[0095] Based on this, the pallet production management method provided in the embodiments of the present application addresses potential traffic obstacles encountered during pallet transportation. This method obtains initial outer contour information from pallet transport equipment after stacking the pallets, combines this information with historical position change data from transport (including left and right vibration offset values), performs an initial correction, and then performs a further correction based on a user-defined outer contour correction coefficient based on actual ground conditions, obtaining accurate target outer contour information. Under the premise that the target outer contour matches the channel dimensions, the optimal travel path is determined based on this information and historical position change data, effectively improving the transportation efficiency and safety of pallets in target channels prone to obstacles, thereby increasing pallet production efficiency.

[0096] An embodiment of the present application also provides a pallet production management device, which includes: an acquisition module for acquiring the initial outer contour information of the pallet transport equipment after stacking the pallets; an initial correction module for performing an initial correction on the initial outer contour information based on the historical position change data of the pallets during transportation to obtain initial corrected outer contour information; a secondary correction module for performing a secondary correction on the initial corrected outer contour information based on the outer contour correction coefficient pre-set by the user to obtain target outer contour information; a target driving path determination module for determining the target driving path of the pallet transport equipment when it passes through the target channel based on 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.

[0097] like Figure 6 As shown, Figure 6 This 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.

[0098] 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, controlling the pallet transport equipment to perform the pallet production management method in any of the above-mentioned method embodiments, the method including: obtaining initial outer contour information of the pallet transport equipment after stacking the pallets; performing an 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 a further correction on the initial corrected outer contour information according to the outer contour correction coefficient pre-set by the user to obtain target outer contour information, the outer contour correction coefficient being 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 including 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.

[0099] 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 processing (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or any combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0100] 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 the program instructions / modules corresponding to the pallet production management method in the embodiments of the present application. Processor 2000 can implement the pallet production management method in any of the aforementioned method embodiments by executing the non-transitory software programs, instructions, and modules stored in memory 1000.

[0101] 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 types of memory.

[0102] 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.

[0103] The present application also provides a computer-readable storage medium, such as a memory device including program code. The program code can be executed by a processor to implement the pallet production management method of 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, or an optical data storage device.

[0104] The present application also provides a computer program product comprising one or more program codes stored in a computer-readable storage medium. A processor of the early warning system reads the program code from the computer-readable storage medium and executes the program code to perform the steps of the pallet production management method provided in the above embodiment.

[0105] Those skilled in the art will understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or by hardware related to program code, and the program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0106] 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0107] Through the description of the above embodiments, it is clear to those skilled in the art that each embodiment can be implemented by means of software plus a general hardware platform, or of course by hardware. It is understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0108] 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 transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application 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 is used to transport pallets from a first production area to a second production area, wherein a target passage prone to transportation obstacles is formed between the first production area and the second production area, and the method includes: Obtain the initial outer contour information of the pallet transport equipment after stacking the pallets; Performing a preliminary correction on the initial outer contour information according to historical position change data of the pallet during historical transportation to obtain preliminary 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 an 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 ground conditions, and the target outer contour information includes at least 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; 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.

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 obtaining 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; Obtaining 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 respectively; 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 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 and right vibration offset values ​​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 coefficients include a left outer contour correction coefficient and a right outer contour correction coefficient. The initial corrected outer contour information is corrected again according to the outer contour correction coefficients preset by the user to obtain target outer contour information, including: Multiply the distance from the left virtual contour in the initial correction outer contour information to the center of the pallet transport device 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; Multiply the distance from the right virtual contour in the initial correction outer contour information to the center of the pallet transport device 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 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 a 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: Determining a relationship between a difference between the left vibration offset value and the right vibration offset value and a preset difference value, and a 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, determining a first target driving path to control the pallet transport device so that the distance from the left virtual outline to the left wall is greater than the distance from the right virtual outline to the right wall when passing 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, determining a second target driving path to control the pallet transport device so that the distance from the left virtual outline to the left wall is less than the distance from the right virtual outline to the right wall when passing through the target channel; 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 pallet transport equipment so that the distance from the left virtual contour to the left wall is approximately equal to the distance from the right virtual contour to the right wall when passing 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 outer contour information of the target is monitored in real time based on the real-time point cloud data of the laser radar; When the target outer contour information is detected to have changed 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 obtain initial outer contour information of pallets after being stacked by pallet transport equipment; An initial correction module is used to perform an 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, wherein the historical position change data includes a left vibration offset value and a right vibration offset value; a re-calibration module, configured to re-calibrate the initially-calibrated outer contour information according to an outer contour correction coefficient preset by a 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 based on actual ground conditions, and the target outer contour information includes at least 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; The target driving path determination module is used to determine the target driving path of the pallet transport equipment when passing through the target channel according to the target outer contour dimension information and historical position change data when the target outer contour dimension information matches the dimension 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 configured to call the program code to execute the method according to any one of claims 1 to 8.

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