Shelf beam detection system and method, and related storage medium and program

Abstract

The invention relates to the technical field of intelligent logistics, in particular to a forklift AGV shelf cross beam detection system and method and related products, and the system comprises a distance acquisition module, a cross beam detection module and a forklift driving module; the method comprises the steps of collecting distance information between a forklift and a goods shelf cross beam; determining the current longitudinal position of the goods in the global coordinate system of the goods shelf according to the distance information in combination with a motion model of the forklift; determining a target longitudinal position of the goods in the global coordinate system of the goods shelf according to the size of the goods and the geometric information of the goods shelf cross beam; based on the current longitudinal position and the target longitudinal position, the longitudinal position deviation of the goods relative to the goods shelf cross beam is calculated; and driving an executing mechanism of the forklift based on the longitudinal position deviation. Longitudinal accurate position placement of the goods is achieved by detecting the positions of the goods shelf cross beams, and the working efficiency, the service stability and the operation safety of the forklift AGV are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent logistics technology, and in particular to a shelf beam detection system and method, and related storage media and programs. Background Art

[0002] With the development of the forklift industry and the AGV (Automated Guided Vehicle) industry, forklift AGVs have gradually become an important core part of the intelligent logistics handling system and are widely used in factory workshops, warehouses, circulation centers, and distribution centers.

[0003] The safe loading and unloading system is one of the core systems of forklift AGVs. Its performance and reliability directly impact the AGV's operational efficiency, business stability, and safety. With the continuous expansion of AGV application scenarios and technological advancements, the safe loading and unloading system plays a vital role in ensuring the normal operation of equipment and the precise loading and unloading of goods. However, existing safe loading and unloading systems have low longitudinal positioning accuracy when loading and unloading goods by forklift AGVs. Therefore, improving the longitudinal positioning accuracy of goods when loading and unloading goods by forklift AGVs is crucial to improving the operational efficiency, business stability, and operational safety of forklift AGVs. Summary of the Invention

[0004] This application provides a forklift AGV shelf beam detection system, method, and related products, which aim to accurately place goods in the longitudinal position by detecting the position of shelf beams, thereby improving the operating efficiency, business stability, and operational safety of forklift AGVs. This is achieved specifically through the following technical solutions: In a first aspect, the present application provides a forklift AGV shelf beam detection system, comprising: Distance acquisition module, beam detection module and forklift drive module; among them, The distance acquisition module is installed in the middle of the upper part of the forklift base and is used to collect the distance information between the forklift and the shelf beam; The beam detection module is connected to the distance acquisition module through a network; it includes a current position determination unit for determining the current longitudinal position of the goods in the global coordinate system of the shelf, a target position determination unit for determining the target longitudinal position of the goods in the global coordinate system of the shelf, and a position deviation calculation unit; wherein the position deviation calculation unit is connected to the current position determination unit and the target position determination unit respectively; The forklift driving module is connected to the beam detection module and drives the forklift actuator based on the longitudinal position deviation, wherein the longitudinal position deviation is the longitudinal position deviation of the goods relative to the shelf beam calculated by the position deviation calculation unit based on the current longitudinal position and the target longitudinal position.

[0005] On the second aspect, the present application provides a forklift AGV shelf beam detection method, which collects the distance information between the forklift and the shelf beam; determines the current longitudinal position of the goods in the global coordinate system of the shelf based on the distance information combined with the motion model of the forklift; and determines the target longitudinal position of the goods in the global coordinate system of the shelf based on the size of the goods and the geometric information of the shelf beam; then calculates the longitudinal position deviation of the goods relative to the shelf beam based on the current longitudinal position and the target longitudinal position; finally, drives the forklift's actuator based on the longitudinal position deviation.

[0006] In a third aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a forklift AGV shelf beam detection method as described in the second aspect above are implemented.

[0007] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the steps of a forklift AGV shelf beam detection method as described in the second aspect above.

[0008] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a computer device, it is used to implement the steps of a forklift AGV shelf beam detection method as described in the second aspect above.

[0009] As can be seen from the above, compared with the prior art, this application has the following beneficial technical effects: (1) By collecting the distance information between the forklift and the shelf beam and combining it with the forklift motion model, the current longitudinal position of the goods in the global coordinate system of the shelf can be accurately calculated. The target longitudinal position is determined based on the size of the goods and the geometric information of the shelf beam. This makes the positioning of the goods more accurate, helps to achieve precise placement of goods on the shelf, and improves the utilization of storage space.

[0010] (2) The longitudinal position deviation of the cargo relative to the shelf beam is calculated and the forklift actuator is driven based on this deviation, forming a closed-loop feedback control system. The system can monitor the difference between the cargo position and the target position in real time and adjust the forklift movement in a timely manner to ensure that the cargo is accurately placed in the target position, reducing manual intervention and improving work efficiency.

[0011] (3) Accurate positioning and real-time adjustment can avoid collisions between goods and shelves, reduce the risk of goods damage and shelf collapse, and ensure the safety of warehousing operations.

[0012] (4) This application also takes into account various factors such as cargo size and shelf beam geometry, and can adapt to storage environments with different types of cargo and different shelf structures, with strong versatility and flexibility.

[0013] (5) The entire process does not require frequent manual measurement and adjustment, which realizes the automation and intelligence of goods placement, improves the degree of automation of warehousing and logistics, reduces labor costs, and improves overall operational efficiency.

[0014] (6) Accurate cargo positioning and efficient placement process help realize the informatization and digitalization of warehouse management, facilitate the tracking and management of goods, improve the accuracy and efficiency of inventory counting, and provide more accurate data support for the company's warehousing decisions.

[0015] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0017] Figure 1 A schematic diagram of the structure of a forklift AGV shelf beam detection system provided in an embodiment of the present application; Figure 2 A schematic diagram of a process flow of a forklift AGV shelf beam detection system provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0019] Based on the technical problem that the existing safe picking and placing system has low accuracy in the longitudinal placement of goods when forklift AGV picks and places goods, resulting in low operating efficiency, poor business stability and low operational safety of forklift AGV, this application provides a forklift AGV shelf beam detection system, method and related products.

[0020] like Figure 1 As shown, Figure 1 This is a structural diagram of a forklift AGV shelf beam detection system provided in an embodiment of the present application, wherein the system includes: a distance acquisition module 100, a beam detection module 200 and a forklift drive module 300; wherein, The distance acquisition module 100 is installed in the middle of the upper part of the forklift base, and is used to collect the distance information between the forklift and the shelf beam.

[0021] This application is applied to forklift AGV, and by installing a corresponding distance measuring sensor in the middle of the upper part of the forklift base, the distance information between the forklift and the shelf beam is collected in real time. A laser distance measuring sensor is used as the distance acquisition module 100, which is installed in the middle of the upper part of the forklift base. Its installation feature is that it irradiates the laser distance measuring sensor to the front, and its left and right directions are designed to adjust the space for left and right detection of the shelf beam. By constructing a control system architecture including sensors, controllers and actuators (such as the lifting and telescopic mechanisms of the forklift). The sensor is responsible for collecting the distance information between the forklift and the shelf beam in real time, the controller processes the collected distance information between the forklift and the shelf beam, and issues corresponding control instructions, and the actuator completes the precise placement of the goods according to the control instructions.

[0022] In the embodiments of this application, the use of a laser ranging sensor can provide highly accurate distance measurements, typically reaching millimeter levels or even higher. This makes the calculated cargo position more accurate. Combined with the forklift's precise position and orientation information, accurate coordinate conversion and calculation can precisely determine the cargo's position in the global coordinate system, meeting the requirements for high cargo positioning accuracy. The laser ranging sensor uses a non-contact measurement method, avoiding direct contact with the cargo or shelf, thus preventing damage to the cargo and preventing contact wear that could affect the lifespan and accuracy of the measuring device. This non-contact measurement feature makes this solution suitable for a wide range of cargo types, including those that are fragile, easily deformed, or require surfaces that cannot bear contact marks. The laser ranging sensor can quickly acquire distance data, and the forklift's position and orientation information can be updated in real time. The system can calculate the cargo's current position in real time, providing timely and accurate information for forklift control and scheduling. This helps improve the efficiency and responsiveness of logistics automation systems and reduce waiting times and stagnation during cargo handling. Laser ranging technology is mature and stable, relatively immune to environmental interference, and operates reliably in most indoor logistics environments. Forklift position and orientation measurement equipment is also generally highly reliable. With regular maintenance and calibration, the entire solution can operate stably over the long term, providing reliable cargo location information, reducing the probability of system failures and minimizing problems such as cargo damage or operational errors caused by inaccurate positioning. This solution can be flexibly adjusted and configured to suit different forklift models, shelf layouts, and work environments. Simply by properly installing laser ranging sensors and position and orientation measurement equipment, and calibrating and setting the relevant parameters, it can adapt to a variety of complex logistics scenarios. Its high versatility and adaptability make it suitable for a wide range of warehouses, logistics centers, and other locations.

[0023] The beam detection module 200 is connected to the distance acquisition module 100 through a network.

[0024] In which, the beam detection module 200 includes a current position determination unit 201 for determining the current longitudinal position of the goods in the global coordinate system of the shelf, a target position determination unit 202 for determining the target longitudinal position of the goods in the global coordinate system of the shelf, and a position deviation calculation unit 203; wherein, the position deviation calculation unit 203 is respectively connected to the current position determination unit 201 and the target position determination unit 202.

[0025] The current position determination unit 201 is configured to determine the current longitudinal position of the cargo in the global coordinate system of the shelf based on the distance information and a motion model of the forklift.

[0026] The embodiment of the present application is described using a two-wheel differential drive AGV forklift as an example.

[0027] Based on the mechanical structure and movement mode of the two-wheel differential drive AGV forklift, its kinematic model is established.

[0028] Generally, the motion of an AGV forklift can be decomposed into translation and rotation.

[0029] First, taking the center of mass of the forklift as the origin, the forward direction of the forklift is Axis direction, the forklift's fork rises in the direction Axis orientation, establish the forklift local coordinate system.

[0030] Among them, the position of the forklift in the global coordinate system of the shelf is determined according to the linear speed of the left and right wheels of the forklift and the wheelbase of the forklift ( ， ), as shown below: Assume that the linear speeds of the left and right wheels of the forklift are and , the wheelbase of the forklift is ; The linear speed of the forklift is and angular velocity It can be expressed as: ; ; Then in the global coordinate system of the shelf, the position of the forklift ( ， ) and orientation It can be expressed as: ； ； ; A global coordinate system for the shelf can be established based on the measured shelf dimensions and location information. This system allows each shelf beam to be represented as a specific geometric shape (e.g., a line segment) and its position and orientation within the global coordinate system to be recorded.

[0031] Of course, it is understandable that encoders and other equipment can also be used to measure the linear velocity and angular velocity of the forklift in real time, and input them into the above-mentioned AGV forklift motion model to update the forklift's position and orientation data, improve the forklift's control accuracy, and the position accuracy of the goods placed on the shelves, thereby improving the utilization rate of storage space.

[0032] Then, according to the installation position of the acquisition module (which can be obtained by actually measuring the installation position of the sensor), the first coordinate of the acquisition module in the local coordinate system of the forklift is obtained ( ， ), the acquisition module is used to collect the distance information between the forklift and the shelf beam.

[0033] Then, the sensor coordinate system is established with the acquisition module (i.e., the laser ranging sensor) as the origin, the signal emission direction of the acquisition module as the horizontal axis, and the ascending direction of the forklift's forks as the vertical axis.

[0034] Then, according to the relative position relationship between the goods and the acquisition module, the second coordinate of the goods in the sensor coordinate system is obtained ( ， ).

[0035] Then according to the distance information and the second coordinate ( ， ), calculate the third coordinate of the cargo in the forklift local coordinate system through the coordinate transformation formula ( ， ).

[0036] The coordinate transformation formula is as follows: ; in, is the distance between the forklift and the rack beam.

[0037] Finally, using the position of the forklift in the global coordinate system of the shelf ( ， ) and orientation angle , determine the current longitudinal position of the goods in the global coordinate system of the shelf.

[0038] Among them, the position of the forklift in the global coordinate system of the shelf is used ( ， ) and orientation angle , the calculation formula to determine the current longitudinal position of the goods in the global coordinate system of the shelf is as follows: ; in, is the current horizontal position of the goods in the global coordinate system of the shelf; is the current longitudinal position of the goods in the global coordinate system of the shelf.

[0039] The target position determination unit 202 is used to: Determine the target longitudinal position of the goods in the global coordinate system of the shelf based on the size of the goods and the geometric information of the shelf beams .

[0040] The position deviation calculation unit 203 is used to: Based on the current longitudinal position and the target longitudinal position, a longitudinal position deviation of the cargo relative to the shelf beam is calculated.

[0041] As mentioned above, according to the current longitudinal position of the goods in the global coordinate system of the shelf and the target longitudinal position of the goods in the global coordinate system of the shelf , calculate the longitudinal position deviation of the goods relative to the shelf beam : ; Longitudinal position deviation of goods relative to the shelf beam The result may be positive or negative. If it is positive, it indicates the current longitudinal position of the goods in the global coordinate system of the shelf. Greater than (higher than) the target longitudinal position of the goods in the shelf's global coordinate system Therefore, the forklift's fork arm can be lowered by driving the forklift's actuator to move the goods downward relative to the shelf beam until the longitudinal position deviation of the goods relative to the shelf beam is , that is, the current longitudinal position of the goods in the global coordinate system of the shelf The target longitudinal position of the goods in the global coordinate system of the shelf equal; based on this deviation, the forklift actuator is driven to form a closed-loop feedback control system. The system can monitor the difference between the cargo position and the target position in real time, and adjust the movement of the forklift in time to ensure that the cargo is accurately placed at the target position, reduce manual intervention, and improve work efficiency; it makes the positioning of the cargo more accurate, helps to achieve the precise placement of the cargo on the shelves, and improves the utilization rate of the storage space. It also avoids collisions between cargo and shelves, reduces the risk of cargo damage and shelf collapse, and ensures the safe conduct of warehousing operations; this application also takes into account various factors such as cargo size and shelf beam geometry information, and can adapt to storage environments with different types of cargo and different shelf structures, with strong versatility and flexibility. At the same time, the entire process does not require frequent manual measurement and adjustment, realizes the automation and intelligence of cargo placement, improves the degree of automation in warehousing logistics, reduces labor costs, and improves overall operational efficiency.

[0042] Similarly, if it is negative, it indicates the current longitudinal position of the goods in the global coordinate system of the shelf. Smaller than (lower than) the target longitudinal position of the goods in the global coordinate system of the shelf Therefore, the forklift's fork arm can be raised by driving the forklift's actuator to move the goods upward relative to the shelf beam until the longitudinal position deviation of the goods relative to the shelf beam is , that is, the current longitudinal position of the goods in the global coordinate system of the shelf The target longitudinal position of the goods in the global coordinate system of the shelf equal.

[0043] The forklift driving module 300 is connected to the beam detection module 200 and drives the actuator of the forklift based on the longitudinal position deviation, wherein the longitudinal position deviation is the longitudinal position deviation of the goods relative to the shelf beam calculated by the position deviation calculation unit based on the current longitudinal position and the target longitudinal position, as described above.

[0044] The forklift driving module 300 drives the actuator of the forklift based on the longitudinal position deviation. The specific implementation method can be: Determine the dynamic characteristics of the forklift actuator (such as the motor, hydraulic system, etc.) and establish a PID control model. The calculation formula of the PID control model is as follows: ; in, is the driving control quantity of the forklift actuator; is the longitudinal position deviation; is the proportional coefficient of the longitudinal position deviation to the drive control amount; is the integral coefficient used to eliminate the steady-state error of the system; is the differential coefficient for predicting the changing trend of longitudinal position deviation; The PID control model is used to drive the actuator of the forklift.

[0045] In an embodiment of the present application, the current position information of the cargo is continuously collected and compared with the target position to calculate the position deviation. The position deviation is used as the input of the PID control model. The drive signal of the forklift actuator is adjusted based on the control variable calculated by the PID control model. For example, if the control variable is the speed of the motor, the control variable is converted into the drive voltage or pulse signal of the motor. Within each control cycle, the above process of data collection, deviation calculation, PID control calculation, and control variable output is repeated to continuously adjust the position of the forklift until the position deviation is less than the set threshold.

[0046] It's important to note that automatic parameter tuning algorithms, such as the Ziegler-Nichols method, genetic algorithms, and particle swarm optimization, can also be used to automatically optimize the parameters of the PID control model to improve control effectiveness. Furthermore, by setting maximum and minimum travel limits for the forklift's actuators, excessive control variables can be prevented from causing the forklift to exceed safety limits. Furthermore, exception handling mechanisms can be incorporated into the control system to promptly implement protective measures, such as stopping the forklift, when sensor failures or abnormal control variables are detected.

[0047] In summary, the embodiments of the present application, by collecting distance information between the forklift and the shelf crossbars and combining it with a forklift motion model, can accurately calculate the current longitudinal position of the goods in the shelf's global coordinate system. The target longitudinal position is determined based on the goods' size and the shelf crossbar geometry, making the positioning of the goods more accurate, facilitating precise placement of goods on the shelves and improving storage space utilization. The longitudinal position deviation of the goods relative to the shelf crossbars is calculated and the forklift actuator is driven based on this deviation, forming a closed-loop feedback control system. This system can monitor the difference between the goods' position and the target position in real time and promptly adjust the forklift's movement to ensure that the goods are accurately placed at the target position, reducing manual intervention and improving work efficiency. Accurate positioning and real-time adjustments can prevent collisions between goods and shelves, reducing the risk of damage and shelf collapse, and ensuring the safe conduct of warehousing operations. This application also takes into account multiple factors, such as the size of the goods and the geometry of the shelf crossbars, and can adapt to storage environments with different types of goods and different shelf structures, demonstrating strong versatility and flexibility. The entire process eliminates the need for frequent manual measurement and adjustment, achieving automated and intelligent cargo placement. This increases the automation level of warehouse logistics, reduces labor costs, and improves overall operational efficiency. Accurate cargo positioning and efficient placement contribute to the informatization and digitization of warehouse management, facilitates cargo tracking and management, improves the accuracy and efficiency of inventory counts, and provides more accurate data support for enterprises' warehousing decisions.

[0048] In a feasible implementation, the above embodiment is described using a two-dimensional coordinate motion model as an example. The following is an example of establishing a three-dimensional coordinate motion model of a forklift to further illustrate the specific implementation of the technical solution of this application, as follows: With the center of the driven wheel of the forklift as the coordinate origin, the forward direction of the forklift as the horizontal axis, facing the forward direction of the forklift, the left side of the forklift as the longitudinal axis, and the upward direction of the forklift fork as the vertical axis, a three-dimensional local coordinate system (X, Y, Z) of the forklift is established; according to the installation position of the acquisition module, the fourth coordinate of the acquisition module in the three-dimensional local coordinate system of the forklift is obtained ( ， ， ), the acquisition module is used to collect the distance information between the forklift and the shelf beam. With the acquisition module as the origin, the signal transmission direction of the acquisition module as the horizontal axis, facing the signal transmission direction, the left side of the sensor as the vertical axis, and the forklift's fork rising direction as the vertical axis, a sensor coordinate system is established; based on the relative position relationship between the goods and the acquisition module, the fifth coordinate of the goods in the sensor coordinate system ( ， ， ). According to the distance information and the fifth coordinate ( ， ， ), calculate the sixth coordinate of the cargo in the forklift local coordinate system through the coordinate transformation formula ( ， ， ); The calculation formula of the coordinate transformation formula is as follows: ; in, is the distance between the forklift and the rack beam.

[0049] Using the position of the forklift in the global coordinate system of the shelf ( ， ， ) and orientation angle , determine the current longitudinal position of the goods in the global coordinate system of the shelf. Specifically, according to the linear speed of the left and right driven wheels of the forklift and the wheelbase of the forklift, determine the position of the forklift in the global coordinate system of the shelf ( ， ， Then, according to the position of the forklift in the global coordinate system of the shelf ( ， ， ), calculate the current position of the goods in the global coordinate system of the shelf ( , , ): ; Therefore, the current longitudinal position of the goods in the global coordinate system of the shelf can be obtained .

[0050] Example 2 Combination of the above Figure 1 The embodiment of the present application provides a forklift AGV shelf beam detection system in detail. Figure 2 A forklift AGV shelf crossbeam detection method implemented by a forklift AGV shelf crossbeam detection system provided by an embodiment of the present application is described in detail. Figure 2 A flow chart of a forklift AGV shelf beam detection method provided in an embodiment of the present application; Figure 2 , the method includes the following: Step 1: Collect the distance information between the forklift and the shelf beam.

[0051] Step 2: Determine the current longitudinal position of the goods in the global coordinate system of the shelf based on the distance information and the motion model of the forklift.

[0052] Step 3: Determine the target longitudinal position of the goods in the global coordinate system of the shelf based on the size of the goods and the geometric information of the shelf beams.

[0053] Step 4: Based on the current longitudinal position and the target longitudinal position, calculate the longitudinal position deviation of the goods relative to the shelf beam; Step 5: driving an actuator of the forklift based on the longitudinal position deviation.

[0054] Preferably, step 2 specifically includes: Taking the center of mass of the forklift as the origin, the forward direction of the forklift is Axis direction, the forklift's fork rises in the direction Axis direction, establish the forklift local coordinate system; obtain the first coordinate of the acquisition module in the forklift local coordinate system according to the installation position of the acquisition module ( ， ), the acquisition module is used to collect the distance information between the forklift and the shelf beam; with the acquisition module as the origin, the signal emission direction of the acquisition module as the horizontal axis direction, and the forklift's fork rising direction as the vertical axis direction, a sensor coordinate system is established; based on the relative position relationship between the goods and the acquisition module, the second coordinate of the goods in the sensor coordinate system is obtained ( ， ); According to the distance information and the second coordinate ( ， ), calculate the third coordinate of the cargo in the forklift local coordinate system through the coordinate transformation formula ( ， ); Using the position of the forklift in the global coordinate system of the shelf ( ， ) and orientation angle , determine the current longitudinal position of the goods in the global coordinate system of the shelf.

[0055] Preferably, the position of the forklift in the global coordinate system of the shelf is determined according to the linear speed of the left and right wheels of the forklift and the wheelbase of the forklift ( ， ).

[0056] Preferably, step five specifically includes: A PID control model is established, and the calculation formula of the PID control model is as follows: ;in, is the driving control quantity of the forklift actuator; is the longitudinal position deviation; is the proportional coefficient of the longitudinal position deviation to the drive control amount; is the integral coefficient used to eliminate the steady-state error of the system; A differential coefficient is used to predict the changing trend of the longitudinal position deviation; and the PID control model is used to drive the actuator of the forklift.

[0057] Preferably, the coordinate transformation formula is calculated as follows: ; in, is the distance between the forklift and the rack beam.

[0058] Preferably, the position of the forklift in the global coordinate system of the shelf is used ( ， ) and orientation angle , the calculation formula to determine the current longitudinal position of the goods in the global coordinate system of the shelf is as follows: ; in, is the current horizontal position of the goods in the global coordinate system of the shelf; is the current longitudinal position of the goods in the global coordinate system of the shelf.

[0059] The specific implementation method and technical effects of the forklift AGV shelf beam detection method refer to the aforementioned forklift AGV shelf beam detection system, which will not be repeated here.

[0060] Example 3 The embodiment of the present application also provides an electronic device, Figure 3 FIG. 1 is a structural diagram of an electronic device according to an embodiment of the present invention, Figure 3As shown, this electronic device includes a central processing unit (CPU) 301, which can execute various appropriate actions and processes according to programs stored in a read-only memory (ROM) 302 or programs loaded from a storage unit 308 into a random access memory (RAM) 303. RAM 303 also stores various programs and data required for system operation. CPU 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to bus 304. The following components are connected to I / O interface 305: an input section 306 including a keyboard, mouse, etc.; an output section 307 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section 308 including a hard disk; and a communication section 309 including a network interface card such as a LAN card or modem. Communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to I / O interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.

[0061] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the boxes can also occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as combinations of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or operations, or can be implemented using a combination of dedicated hardware and computer instructions.

[0062] Example 4 The present application also provides a computer-readable storage medium. This computer-readable storage medium may be included in the forklift AGV rack beam detection system described in the above embodiments, or may be a separate computer-readable storage medium not incorporated into an electronic device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to execute the forklift AGV rack beam detection method described in this application.

[0063] Example 5 An embodiment of the present application further provides a computer program product, which includes a computer program. When the computer program is executed by a computer device, it is used to implement a forklift AGV shelf beam detection method of the present application.

[0064] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to technical solutions formed by a specific combination of the aforementioned technical features, but also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A forklift AGV shelf beam detection system, characterized in that: include: Distance acquisition module, beam detection module and forklift drive module; among them, The distance acquisition module is installed in the middle of the upper part of the forklift base and is used to collect the distance information between the forklift and the shelf beam; The beam detection module is connected to the distance acquisition module through a network; it includes a current position determination unit for determining the current longitudinal position of the goods in the global coordinate system of the shelf, a target position determination unit for determining the target longitudinal position of the goods in the global coordinate system of the shelf, and a position deviation calculation unit; wherein the position deviation calculation unit is connected to the current position determination unit and the target position determination unit respectively; The forklift driving module is connected to the beam detection module and drives the forklift actuator based on the longitudinal position deviation, wherein the longitudinal position deviation is the longitudinal position deviation of the goods relative to the shelf beam calculated by the position deviation calculation unit based on the current longitudinal position and the target longitudinal position.

2. A forklift AGV shelf beam detection system according to claim 1, characterized in that: The current position determination unit is specifically configured to: Taking the center of mass of the forklift as the origin, the forward direction of the forklift is Axis direction, the forklift's fork rises in the direction Axis direction, establish the forklift local coordinate system; obtain the first coordinate of the acquisition module in the forklift local coordinate system according to the installation position of the acquisition module ( ， ), the acquisition module is used to collect the distance information between the forklift and the shelf beam; With the acquisition module as the origin, the signal emission direction of the acquisition module as the horizontal axis, and the forklift's fork rising direction as the vertical axis, a sensor coordinate system is established; based on the relative position relationship between the cargo and the acquisition module, the second coordinate of the cargo in the sensor coordinate system is obtained ( ， ); According to the distance information and the second coordinate ( ， ), calculate the third coordinate of the cargo in the forklift local coordinate system through the coordinate transformation formula ( ， ); Using the position of the forklift in the global coordinate system of the shelf ( ， ) and orientation angle , determine the current longitudinal position of the goods in the global coordinate system of the shelf.

3. A forklift AGV shelf beam detection system according to claim 2, characterized in that: The current position determination unit is further configured to: According to the linear speed of the left and right wheels of the forklift and the wheelbase of the forklift, the position of the forklift in the global coordinate system of the shelf is determined ( ， ).

4. A forklift AGV shelf beam detection system according to claim 3, characterized in that: The calculation formula of the coordinate transformation formula is as follows: ； in, is the distance between the forklift and the rack beam.

5. The forklift AGV shelf beam detection system according to claim 4 is characterized in that: The current vertical position is calculated as follows: ； in, is the current horizontal position of the goods in the global coordinate system of the shelf; is the current longitudinal position of the goods in the global coordinate system of the shelf.

6. A forklift AGV shelf beam detection system according to any one of claims 1 to 5, characterized in that: The forklift drive module is specifically used for: A PID control model is established, and the calculation formula of the PID control model is as follows: ； in, is the driving control quantity of the forklift actuator; is the longitudinal position deviation; is the proportional coefficient of the longitudinal position deviation to the drive control amount; is the integral coefficient used to eliminate the steady-state error of the system; is the differential coefficient for predicting the changing trend of longitudinal position deviation; The PID control model is used to drive the actuator of the forklift.

7. A forklift AGV shelf beam detection method, characterized in that: include: Collect the distance information between the forklift and the shelf beam; Determine the current longitudinal position of the cargo in the global coordinate system of the shelf based on the distance information and the motion model of the forklift; and, determining a target longitudinal position of the cargo in the shelf global coordinate system based on the size of the cargo and the geometric information of the shelf crossbar; and, calculating a longitudinal position deviation of the cargo relative to the shelf crossbar based on the current longitudinal position and the target longitudinal position; An actuator of the forklift is driven based on the longitudinal position deviation.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the forklift AGV shelf beam detection method according to claim 7 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the forklift AGV shelf beam detection method according to claim 7 is implemented.

10. A computer program product, characterized in that The computer program product includes a computer program, which is used to implement the forklift AGV shelf beam detection method according to claim 7 when executed by a computer device.

Images