Operation control system and method for loading device

Abstract

The invention belongs to the technical field of object carrying control, and particularly relates to an operation control system and method for an object carrying device.The system comprises an intelligent path planning module, an object carrying operation control module, a forward image acquisition and distance measurement module, a collision risk detection module, a track judgment, correction and analysis module and a remote supervision terminal; the optimal transportation path is planned through the path intelligent planning module, the carrying device is controlled to move according to the transportation path, and the collision risk detection module judges the collision risk through analysis and avoids obstacles in time. The track judgment, correction and analysis module monitors the real-time moving track of the loading device and corrects the track in time, it is guaranteed that the loading device safely and rapidly arrives at the destination, the abnormal condition of the loading device can be accurately captured, the potential safety hazard degree of operation of the loading device can be reasonably evaluated, the management difficulty of the loading device is remarkably reduced, and the working efficiency is improved. And the intelligent level and the automation level are high.

Description

Technical Field

[0001] The present invention relates to the technical field of object carrying control, and in particular to an operation control system and method for an object carrying device. Background Art

[0002] A load carrier refers to a tool, machine or device used to carry, transport or support goods, articles or equipment. It is designed to improve transportation efficiency, protect cargo safety and reduce manpower burden. With the rapid development of the logistics industry, load carriers are increasingly used in warehousing, transportation and other fields. Currently, when managing the operation of load carriers in warehouses, it is difficult to analyze the risk of forward collisions in real time and accurately detect abnormal conditions during the movement of the load carriers. Furthermore, it is impossible to accurately assess the level of operational safety hazards of the load carriers and provide timely warnings. This increases the management difficulty for managers and results in low levels of intelligence and automation. In view of the above technical defects, a solution is now proposed. Summary of the Invention

[0003] The purpose of the present invention is to provide an operation control system and method for a loading device, which solves the problems that the existing technology is difficult to analyze the forward collision risk of the loading device in real time during its movement and accurately capture its abnormal conditions, and is unable to accurately assess the degree of operational safety hazards of the loading device and provide timely warnings, and has a low level of intelligence and automation.

[0004] To achieve the above object, the present invention provides the following technical solutions: An operation control system for a cargo-carrying device, comprising a path intelligent planning module, a cargo-carrying operation control module, a forward imaging and ranging module, a collision risk detection module, a trajectory judgment, correction and analysis module, and a remote monitoring terminal; The intelligent path planning module obtains the location of the loading device and marks it as the starting point, and obtains the pickup or unloading location and marks it as the pick-up and drop-off point. Based on the starting point, pick-up and drop-off points, and the internal layout of the warehouse, it plans the optimal transportation route and sends the transportation route to the loading operation control module and the remote monitoring terminal; The cargo movement control module controls the cargo carrier to move along the transport path. During the movement of the cargo carrier, the forward imaging and ranging module collects real-time images of the area ahead of the cargo carrier, identifies obstacles in the area ahead, and measures the distance to the obstacles. The real-time images and ranging information of the area ahead are then sent to the collision risk detection module. The collision risk detection module determines the collision risk through analysis and generates a high-risk collision signal or a low-risk collision signal accordingly. When a high-risk collision signal is generated, it is sent to the cargo operation control module. The cargo operation control module controls the cargo device accordingly to avoid obstacles and sends the high-risk collision signal and avoidance information to the remote monitoring terminal. The trajectory judgment and correction analysis module monitors the real-time operation trajectory of the carrier device and determines whether the real-time operation trajectory of the carrier device deviates from the set transportation path. If the carrier device deviates from the set transportation path, a deviation warning information is generated and the deviation warning information is sent to the carrier operation control module and the remote monitoring end. The carrier operation control module corrects the trajectory of the carrier and sends the deviation warning information and trajectory correction information to the remote monitoring end.

[0005] Furthermore, the specific analysis process of the collision risk detection module is as follows: Obtain all obstacles in the forward area, collect the real-time distance between the vehicle and the corresponding obstacle and mark it as the actual distance detection value, and collect the speed at which the distance between the vehicle and the corresponding obstacle is reduced and mark it as the real-time distance reduction value, calculate the obstacle avoidance non-emergency coefficient by ratio of the actual distance detection value to the real-time distance reduction value, compare the obstacle avoidance non-emergency coefficient with a preset obstacle avoidance non-emergency coefficient threshold, and if the obstacle avoidance non-emergency coefficient does not exceed the preset obstacle avoidance non-emergency coefficient threshold, mark the corresponding obstacle as a risk obstacle; If there is a risk obstacle in the forward travel area of ​​the cargo carrying device, a high-risk collision signal is generated; if there is no risk obstacle in the forward travel area of ​​the cargo carrying device, a low-risk collision signal is generated.

[0006] Furthermore, the load-carrying operation control module is communicatively connected to the operation abnormality capture module, which is used to perform abnormality capture analysis on the load-carrying device during its movement, and to determine whether to generate an abnormality capture warning signal through analysis, and to send the abnormality capture warning signal to the remote monitoring end through the load-carrying operation control module. When the remote monitoring end receives the abnormality capture warning signal, it will issue a corresponding warning.

[0007] Furthermore, the specific analysis process of running the exception capture module includes: If no high-risk collision signal is generated within a unit time, the number of times a deviation warning message is generated within the unit time is marked as a trajectory warning value, and the time difference between the generation time of the corresponding deviation warning message and the time when the vehicle carrier completes the trajectory correction is calculated to obtain a trajectory calibration value, the trajectory calibration value is numerically compared with a preset trajectory calibration threshold, and the number of trajectory calibration values ​​exceeding the preset trajectory calibration threshold within the unit time is marked as a trajectory deviation calibration value, and the average of all trajectory calibration values ​​within the unit time is calculated to obtain a trajectory calibration value; The trajectory control anomaly detection value is obtained by numerically calculating the trajectory warning value, trajectory deviation value and trajectory calibration value, and the operation auxiliary control anomaly detection value is obtained through auxiliary monitoring analysis. The trajectory control anomaly detection value and the operation auxiliary control anomaly detection value are numerically compared with the preset trajectory control anomaly detection threshold and the preset operation auxiliary control anomaly detection threshold respectively. If the trajectory control anomaly detection value or the operation auxiliary control anomaly detection value exceeds the corresponding preset threshold, an abnormal capture warning signal is generated.

[0008] Furthermore, the specific analysis process of auxiliary monitoring analysis is as follows: A number of detection time points are set within a unit time, and the real-time movement speed of the load-carrying device at the corresponding detection time points is collected. The deviation value of the real-time movement speed compared to the set standard speed is marked as the speed detection value, and the difference between the real-time movement speeds of two adjacent groups of detection time points is calculated and the absolute value is taken to obtain the speed variation detection value; Obtain the ratio of the number of speed detection values ​​exceeding the preset speed detection threshold value within a unit time and mark it as a speed difference analysis value, and mark the ratio of the number of speed change detection values ​​exceeding the preset speed change detection threshold value within a unit time as a speed change analysis value; and collecting the real-time vibration amplitude and real-time vibration frequency of the load-carrying device, comparing the real-time vibration amplitude and real-time vibration frequency with a preset real-time vibration amplitude threshold and a preset real-time vibration frequency threshold, respectively; if the real-time vibration amplitude or the real-time vibration frequency exceeds the corresponding preset threshold, it is determined that the load-carrying device is in a stable abnormal state; The proportion of the time that the carrier is in a stable abnormal state per unit time is obtained and marked as the stable abnormal analysis value. The operation auxiliary control abnormal detection value is obtained by numerically calculating the speed change detection value, the speed change analysis value and the stable abnormal analysis value.

[0009] Furthermore, the cargo operation control module is communicatively connected to the load monitoring and analysis module. When the cargo is carried on the carrier and transported to the corresponding unloading location, the load monitoring and analysis module collects a real-time position status image of the cargo carried on the carrier, and compares the real-time position status image with the initial position status image. The position state coincidence coefficient is obtained through coincidence comparison, and the position state coincidence coefficient is numerically compared with the preset position state coincidence coefficient threshold. If the position state coincidence coefficient does not exceed the preset position state coincidence coefficient threshold, a load warning signal is generated, and the load warning signal is sent to the remote monitoring end through the load operation control module. When the remote monitoring end receives the load warning signal, it issues a corresponding warning.

[0010] Furthermore, the remote monitoring terminal is communicated with the operation and control hazard assessment module. The operation and control hazard assessment module is used to set an assessment period, analyze the degree of operation and control safety hazards of the carrier within the assessment period, generate an operation and control hazard warning signal or an operation and control safety signal through analysis, and send the operation and control hazard warning signal or the operation and control safety signal to the remote monitoring terminal. When the remote monitoring terminal receives the operation and control hazard warning signal, it will issue a corresponding warning.

[0011] Furthermore, the specific analysis process of the operation control hidden danger assessment module is as follows: The total number of abnormal capture warning signals generated during the evaluation period is collected and the ratio thereof is calculated with the total movement time of the load-carrying device during the evaluation period to obtain the abnormal capture warning value, and the total number of load-carrying warning signals generated during the evaluation period is collected and the ratio thereof is calculated with the total load-carrying operation time of the load-carrying device during the evaluation period to obtain the load-carrying warning value; The failure rate of the load-carrying device in avoiding obstacles during the evaluation period is collected and marked as the avoidance analysis value. The operation and control hidden danger assessment value is obtained by numerically calculating the abnormal capture warning value, the load warning value and the avoidance analysis value. The operation and control hidden danger assessment value is numerically compared with the preset operation and control hidden danger assessment threshold. If the operation and control hidden danger assessment value exceeds the preset operation and control hidden danger assessment threshold, an operation and control hidden danger warning signal is generated; if the operation and control hidden danger assessment value does not exceed the preset operation and control hidden danger assessment threshold, an operation and control safety signal is generated.

[0012] Furthermore, the present invention also proposes an operation control method for a carrying device, comprising the following steps: Step 1: Obtain the location of the loading device and mark it as the starting point, and obtain the pickup location or unloading location and mark it as the pick-up and drop-off point, and plan the optimal transportation route based on the starting point, pick-up and drop-off points, and the internal layout of the warehouse; Step 2: Control the loading device to move along the transportation path; Step 3: Real-time image acquisition of the forward area of ​​the load-carrying device, identification of obstacles in the forward area and obstacle distance measurement; Step 4: Based on the real-time image and ranging information of the forward area, the collision risk is determined, and when a high-risk collision signal is generated, the load-carrying device is controlled accordingly to avoid the obstacle; Step 5: Monitor the real-time running trajectory of the carrier. If the carrier deviates from the set transport path, generate a deviation warning message. When the deviation warning message is generated, correct the trajectory of the carrier.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, the intelligent path planning module plans the optimal transport route, the cargo operation control module controls the cargo carrier to move along the transport route, the forward imaging and ranging module performs real-time image acquisition and obstacle distance measurement in the forward area of ​​the cargo carrier, the collision risk detection module determines the collision risk through analysis and promptly avoids obstacles, and the trajectory judgment and correction analysis module monitors the real-time operation trajectory of the cargo carrier and promptly corrects the trajectory, thereby ensuring that the cargo carrier reaches its destination safely and quickly. 2. In the present invention, the operation abnormality capture module performs reasonable analysis and accurate feedback on the abnormal conditions of the carrier during its movement, and the load monitoring and analysis module monitors the position status of the carried goods and issues timely warnings, which is conducive to ensuring the operational stability and safety of the carrier. The operation control hidden danger assessment module analyzes the degree of safety hidden dangers in the operation control of the carrier, and when the operation control hidden danger warning signal is generated, the carrier is inspected and repaired, which significantly reduces the management difficulty of the carrier, and has a high degree of intelligence and automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings; Figure 1 This is a system block diagram of Embodiment 1 of the present invention; Figure 2 This is a system block diagram of Embodiment 2 of the present invention; Figure 3 This is a flow chart of the method of embodiment 3 of the present invention. DETAILED DESCRIPTION

[0015] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0016] Example 1: Figure 1 As shown, the present invention proposes an operation control system for a cargo-carrying device, including a path intelligent planning module, a cargo-carrying operation control module, a forward imaging and ranging module, a collision risk detection module, a trajectory judgment, correction and analysis module, and a remote monitoring terminal; The intelligent path planning module obtains the position of the carrier and marks it as the starting point, and obtains the pickup location or unloading location and marks it as the pick-up and drop-off point. Based on the starting point, pick-up and drop-off points and the internal layout of the warehouse, it plans the optimal transportation path and sends the transportation path to the carrier operation control module and the remote supervision end. It should be noted that the path planning algorithm takes into account multiple factors such as the motion characteristics of the carrier, the location of obstacles, and time cost to ensure the efficiency and safety of the transportation process.

[0017] The cargo operation control module controls the cargo carrying device to move along the transportation path. During the movement of the cargo carrying device, the forward imaging and ranging module collects real-time images of the forward area of ​​the cargo carrying device, identifies obstacles in the forward area and performs obstacle ranging, and sends the real-time image and ranging information of the forward area to the collision risk detection module; that is, the forward imaging and ranging module integrates multiple sensors (such as ultrasonic sensors, infrared sensors, high-definition cameras, etc.) to monitor the environment around the cargo carrying device in real time.

[0018] The collision risk detection module analyzes and determines the collision risk, and accordingly generates a high-risk collision signal or a low-risk collision signal. When a high-risk collision signal is generated, it is sent to the vehicle operation control module. The vehicle operation control module controls the vehicle accordingly to avoid obstacles, and sends the high-risk collision signal and avoidance information to the remote monitoring terminal. This allows the remote monitoring terminal to have a detailed understanding of obstacles in the forward process and to avoid them in a timely manner, thereby reducing the forward risk of the vehicle and ensuring that the vehicle reaches its destination safely. The specific analysis process of the collision risk detection module is as follows: Obtain all obstacles in the forward area, collect the real-time distance between the vehicle and the corresponding obstacle and mark it as the real-time distance detection value, collect the speed at which the distance between the vehicle and the corresponding obstacle is reduced and mark it as the real-time distance reduction value, and calculate the ratio of the real-time distance detection value to the real-time distance reduction value to obtain the obstacle avoidance non-emergency coefficient; It should be noted that the larger the value of the obstacle avoidance non-emergency coefficient, the greater the risk of collision with the corresponding obstacle; the obstacle avoidance non-emergency coefficient is compared with the preset obstacle avoidance non-emergency coefficient threshold. If the obstacle avoidance non-emergency coefficient does not exceed the preset obstacle avoidance non-emergency coefficient threshold, it indicates that the risk of collision with the corresponding obstacle is high, and the corresponding obstacle is marked as a risk obstacle; If there is a risk obstacle in the forward area of ​​the carrying device, indicating that the current forward risk is relatively high, a high collision risk signal is generated; if there is no risk obstacle in the forward area of ​​the carrying device, indicating that the current forward risk is relatively low, a low collision risk signal is generated.

[0019] The trajectory judgment and correction analysis module monitors the real-time operation trajectory of the carrier and determines whether the real-time operation trajectory of the carrier deviates from the set transportation path. If the carrier deviates from the set transportation path, a deviation warning message is generated and sent to the carrier operation control module and the remote monitoring end. The carrier operation control module corrects the trajectory of the carrier and sends the deviation warning message and trajectory correction message to the remote monitoring end, which helps to ensure that the carrier arrives at the destination safely and quickly, with a high degree of intelligence and automation.

[0020] Example 2: Figure 2 As shown, the difference between this embodiment and the first embodiment is that the load-carrying operation control module is communicatively connected to the operation abnormality capture module, and the operation abnormality capture module is used to perform abnormality capture analysis on the load-carrying device during its movement, and determine whether to generate an abnormality capture warning signal through analysis; The abnormal capture warning signal is sent to the remote monitoring terminal through the load-carrying operation control module. When the remote monitoring terminal receives the abnormal capture warning signal, it issues a corresponding warning. It can reasonably analyze the abnormal conditions during the movement of the load-carrying device and provide accurate feedback, thereby reminding the management personnel to strengthen the operation supervision of the load-carrying device in a timely manner and perform corresponding control operations on the load-carrying device as needed to ensure its operation stability and safety. The specific analysis process of the operation abnormal capture module is as follows: If no high-risk collision signal is generated within a unit time, the number of deviation warning messages generated within the unit time is marked as the trajectory warning value, and the time difference between the generation time of the corresponding deviation warning message and the time when the vehicle carrier completes the trajectory correction is calculated to obtain the trajectory correction value. The larger the value of the trajectory correction value, the lower the correction efficiency for the corresponding trajectory deviation condition. Compare the trajectory timing value with the preset trajectory timing threshold, mark the number of trajectory timing values ​​that exceed the preset trajectory timing threshold within a unit time as the trajectory out-of-calibration value, and calculate the average of all trajectory timing values ​​within a unit time to obtain the trajectory calibration value; The trajectory warning value XS, the trajectory deviation value XF, and the trajectory condition value XL are numerically calculated using the formula XP=wq1*XS+(wq2*XF+wq3*XL) / wq1 to obtain the trajectory control deviation value XP. wq1, wq2, and wq3 are preset proportional coefficients with values ​​greater than zero. The larger the value of the trajectory control deviation value XP, the worse the current trajectory execution performance of the carrier. A number of detection time points are set within a unit of time, and the real-time movement speed of the load-carrying device at the corresponding detection time points is collected. The deviation of the real-time movement speed from the set standard speed is marked as the speed detection value. The real-time movement speed of two adjacent groups of detection time points is calculated and the absolute value is taken to obtain the speed variation detection value. The larger the value of the speed variation detection value, the greater the speed variation of the load-carrying device during the interval between the corresponding two detection time points, which is less conducive to ensuring its movement stability. Obtain the ratio of the number of speed detection values ​​exceeding the preset speed detection threshold value within a unit time and mark it as a speed difference analysis value, and mark the ratio of the number of speed change detection values ​​exceeding the preset speed change detection threshold value within a unit time as a speed change analysis value; The real-time vibration amplitude and real-time vibration frequency of the load-carrying device are collected, and the real-time vibration amplitude and real-time vibration frequency are numerically compared with the preset real-time vibration amplitude threshold and the preset real-time vibration frequency threshold, respectively. If the real-time vibration amplitude or the real-time vibration frequency exceeds the corresponding preset threshold, it is determined that the load-carrying device is in a stable abnormal state; the proportion of the time period in which the load-carrying device is in the stable abnormal state per unit time is obtained and marked as a stable abnormality analysis value; By formula The speed variation detection value GY, the speed variation analysis value GM, and the stability analysis value GS are numerically calculated to obtain the operation auxiliary control abnormal detection value GX; wherein uy1, uy2, and uy3 are preset proportional coefficients, and uy2>uy1>uy3>0; and the larger the value of the operation auxiliary control abnormal detection value GX, the more abnormal the movement condition of the load-carrying device per unit time; The trajectory control abnormal detection value XP and the operation auxiliary control abnormal detection value GX are numerically compared with the preset trajectory control abnormal detection threshold and the preset operation auxiliary control abnormal detection threshold respectively. If the trajectory control abnormal detection value XP or the operation auxiliary control abnormal detection value GX exceeds the corresponding preset threshold, it indicates that the operation performance of the carrier in unit time is generally poor, and an abnormal capture warning signal is generated.

[0021] Furthermore, the cargo operation control module is communicatively connected to the load monitoring and analysis module. When the cargo is carried on the carrier and transported to the corresponding unloading location, the load monitoring and analysis module collects a real-time position status image of the cargo carried on the carrier, and compares the real-time position status image with the initial position status image. The position state coincidence coefficient is obtained by the coincidence comparison, wherein the position state coincidence coefficient is a data value indicating the degree of coincidence between the current position state and the initial position device. The smaller the value of the position state coincidence coefficient, the more serious the displacement of the cargo carried by the cargo carrying device, which is less conducive to ensuring safe and stable loading of the cargo. The position state coincidence coefficient is numerically compared with the preset position state coincidence coefficient threshold. If the position state coincidence coefficient does not exceed the preset position state coincidence coefficient threshold, it indicates that the displacement condition of the goods carried by the loading device is serious, and a load warning signal is generated. The load warning signal is sent to the remote monitoring end through the loading operation control module. When the remote monitoring end receives the load warning signal, it issues a corresponding warning to remind the management personnel to adjust the position of the goods carried on the loading device in time, reduce the risk of goods falling, and ensure the safe transportation of goods.

[0022] Example 3: Figure 2 As shown, the difference between this embodiment and the first and second embodiments is that the remote monitoring terminal is communicatively connected to the operation control hidden danger assessment module, which is used to set an assessment period, analyze the degree of operation control safety hidden danger of the load-carrying device within the assessment period, and generate an operation control hidden danger warning signal or an operation control safety signal through the analysis; The operation and control hazard warning signal or operation and control safety signal is sent to the remote monitoring terminal. When the remote monitoring terminal receives the operation and control hazard warning signal, it will issue a corresponding warning. This can reasonably analyze and accurately assess the degree of the operation safety hazard of the carrier, which is conducive to the management personnel to timely inspect and repair the carrier, thereby ensuring the subsequent safe and stable operation of the carrier and significantly reducing the difficulty of managing the carrier. The specific analysis process of the operation and control hazard assessment module is as follows: The total number of abnormal capture warning signals generated during the evaluation period is collected and the ratio thereof is calculated with the total movement time of the load-carrying device during the evaluation period to obtain the abnormal capture warning value, and the total number of load-carrying warning signals generated during the evaluation period is collected and the ratio thereof is calculated with the total load-carrying operation time of the load-carrying device during the evaluation period to obtain the load-carrying warning value; and collecting the obstacle avoidance failure rate of the vehicle during the evaluation period (i.e., the percentage of times the vehicle failed to successfully avoid an obstacle during the evaluation period) and marking it as an avoidance analysis value; The operation control hazard assessment value HP is calculated by numerically calculating the abnormal capture warning value HY, the load warning value HN, and the avoidance analysis value HW using the formula HP=(rw1*HY+rw2*HN+rw3*HW) / 3. Here, rw1, rw2, and rw3 are preset proportional coefficients, with rw3>rw2>rw1>0. Furthermore, the larger the value of the operation control hazard assessment value HP, the worse the overall operation control performance of the load-carrying device. The operation and control hidden danger assessment value HP is numerically compared with the preset operation and control hidden danger assessment threshold. If the operation and control hidden danger assessment value HP exceeds the preset operation and control hidden danger assessment threshold, it indicates that the operation control performance of the carrier is generally poor, and an operation and control hidden danger warning signal is generated; if the operation and control hidden danger assessment value HP does not exceed the preset operation and control hidden danger assessment threshold, it indicates that the operation control performance of the carrier is generally good, and an operation and control safety signal is generated.

[0023] Example 4: Figure 3 As shown, the difference between this embodiment and the first, second and third embodiments is that the present invention provides an operation control method for a carrying device, comprising the following steps: Step 1: Obtain the location of the loading device and mark it as the starting point, and obtain the pickup location or unloading location and mark it as the pick-up and drop-off point, and plan the optimal transportation route based on the starting point, pick-up and drop-off points, and the internal layout of the warehouse; Step 2: Control the loading device to move along the transportation path; Step 3: Real-time image acquisition of the forward area of ​​the load-carrying device, identification of obstacles in the forward area and obstacle distance measurement; Step 4: Based on the real-time image and ranging information of the forward area, the collision risk is determined, and when a high-risk collision signal is generated, the load-carrying device is controlled accordingly to avoid the obstacle; Step 5: Monitor the real-time running trajectory of the carrier. If the carrier deviates from the set transport path, generate a deviation warning message. When the deviation warning message is generated, correct the trajectory of the carrier.

[0024] The working principle of the present invention is as follows: when in use, the optimal transportation path is planned by the path intelligent planning module, the load-carrying device is controlled to move according to the transportation path, the forward imaging and ranging module performs real-time image acquisition and obstacle ranging on the forward area of ​​the load-carrying device, the collision risk detection module judges the collision risk through analysis, and controls the load-carrying device accordingly to avoid obstacles when a high-risk collision signal is generated, and the real-time operation trajectory of the load-carrying device is monitored by the trajectory judgment and correction analysis module. If the load-carrying device deviates from the set transportation path, the trajectory of the load-carrying device is corrected, which is conducive to ensuring that the load-carrying device arrives at the destination safely and quickly, and the abnormal condition of the load-carrying device is reasonably analyzed and accurately fed back during the movement of the load-carrying device through the operation abnormality capture module, thereby reminding management personnel to promptly strengthen the operation supervision of the load-carrying device to ensure its operation stability and safety, and a high degree of intelligence and automation.

[0025] The above formulas are all dimensionless and calculated by taking their numerical values. The formula is a formula for the latest real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions. The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made based on the contents of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that technicians in the relevant technical field can well understand and use the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. An operation control system for a loading device, characterized in that: It includes intelligent path planning module, cargo operation control module, forward imaging and ranging module, collision risk detection module, trajectory judgment and correction analysis module and remote monitoring terminal; The intelligent path planning module obtains the location of the loading device and marks it as the starting point, and obtains the pickup or unloading location and marks it as the pick-up and drop-off point. Based on the starting point, pick-up and drop-off points, and the internal layout of the warehouse, it plans the optimal transportation route and sends the transportation route to the loading operation control module and the remote monitoring terminal; The cargo movement control module controls the cargo carrier to move along the transport path. During the movement of the cargo carrier, the forward imaging and ranging module collects real-time images of the area ahead of the cargo carrier, identifies obstacles in the area ahead, and measures the distance to the obstacles. The real-time images and ranging information of the area ahead are then sent to the collision risk detection module. The collision risk detection module determines the collision risk through analysis and generates a high-risk collision signal or a low-risk collision signal accordingly. When a high-risk collision signal is generated, it is sent to the cargo operation control module. The cargo operation control module controls the cargo device accordingly to avoid obstacles and sends the high-risk collision signal and avoidance information to the remote monitoring terminal. The trajectory judgment and correction analysis module monitors the real-time operation trajectory of the carrier device and determines whether the real-time operation trajectory of the carrier device deviates from the set transportation path. If the carrier device deviates from the set transportation path, a deviation warning information is generated and the deviation warning information is sent to the carrier operation control module and the remote monitoring end. The carrier operation control module corrects the trajectory of the carrier and sends the deviation warning information and trajectory correction information to the remote monitoring end.

2. The operation control system for a carrier according to claim 1, characterized in that: The specific analysis process of the collision risk detection module is as follows: Obtain all obstacles in the forward area, collect the real-time distance between the vehicle and the corresponding obstacle and mark it as the actual distance detection value, and collect the speed at which the distance between the vehicle and the corresponding obstacle is reduced and mark it as the real-time distance reduction value. Ratio the actual distance detection value to the real-time distance reduction value to calculate the obstacle avoidance non-emergency coefficient. If the obstacle avoidance non-emergency coefficient does not exceed the preset obstacle avoidance non-emergency coefficient threshold, mark the corresponding obstacle as a risk obstacle. If there is a risk obstacle in the forward travel area of ​​the cargo carrier, a high-risk collision signal is generated; If there is no risk obstacle in the forward travel area of ​​the load-carrying device, a low-risk collision signal is generated.

3. The operation control system for a carrier according to claim 1, characterized in that: The load-carrying operation control module is communicatively connected to the operation abnormality capture module. The operation abnormality capture module is used to perform abnormality capture analysis on the load-carrying device during its movement, and to determine whether to generate an abnormality capture warning signal through analysis. The abnormality capture warning signal is then sent to the remote monitoring end via the load-carrying operation control module. The remote monitoring end issues a corresponding warning when it receives the abnormality capture warning signal.

4. The operation control system for a carrier according to claim 3, characterized in that: The specific analysis process of running the exception capture module includes: If no high-risk collision signal is generated within a unit time, the number of times a deviation warning message is generated within the unit time is marked as a trajectory warning value, and the time difference between the time when the corresponding deviation warning message is generated and the time when the vehicle carrier completes the trajectory correction is calculated to obtain a trajectory correction value. The number of trajectory correction values ​​that exceed a preset trajectory correction threshold within the unit time is marked as a trajectory deviation correction value, and the average of all trajectory correction values ​​within the unit time is calculated to obtain a trajectory correction value. The trajectory control anomaly detection value is obtained by numerically calculating the trajectory warning value, trajectory anomaly calibration value and trajectory condition value, and the operation auxiliary control anomaly detection value is obtained through auxiliary monitoring analysis. If the trajectory control anomaly detection value or the operation auxiliary control anomaly detection value exceeds the corresponding preset threshold, an abnormal capture warning signal is generated.

5. The operation control system for a carrier according to claim 4, characterized in that: The specific analysis process of auxiliary monitoring analysis is as follows: A number of detection time points are set within a unit time, and the real-time movement speed of the load-carrying device at the corresponding detection time points is collected. The deviation value of the real-time movement speed compared to the set standard speed is marked as the speed detection value, and the difference between the real-time movement speeds of two adjacent groups of detection time points is calculated and the absolute value is taken to obtain the speed variation detection value; Obtain the ratio of the number of speed detection values ​​exceeding the preset speed detection threshold value within a unit time and mark it as a speed difference analysis value, and mark the ratio of the number of speed change detection values ​​exceeding the preset speed change detection threshold value within a unit time as a speed change analysis value; and collecting the real-time vibration amplitude and real-time vibration frequency of the load-carrying device, comparing the real-time vibration amplitude and real-time vibration frequency with a preset real-time vibration amplitude threshold and a preset real-time vibration frequency threshold, respectively; if the real-time vibration amplitude or the real-time vibration frequency exceeds the corresponding preset threshold, it is determined that the load-carrying device is in a stable abnormal state; The proportion of the time that the carrier is in a stable abnormal state per unit time is obtained and marked as the stable abnormal analysis value. The operation auxiliary control abnormal detection value is obtained by numerically calculating the speed change detection value, the speed change analysis value and the stable abnormal analysis value.

6. The operation control system for a carrier according to claim 3, characterized in that: The cargo operation control module is communicatively connected to the load monitoring and analysis module. When the cargo is carried on the carrier and transported to the corresponding unloading location, the load monitoring and analysis module collects a real-time position status image of the cargo carried on the carrier and compares the real-time position status image with the initial position status image. The position state overlap coefficient is obtained through overlap comparison. If the position state overlap coefficient does not exceed the preset position state overlap coefficient threshold, a load warning signal is generated, and the load warning signal is sent to the remote monitoring end through the load operation control module. When the remote monitoring end receives the load warning signal, it will issue a corresponding warning.

7. The operation control system for a carrier according to claim 1, characterized in that: The remote monitoring terminal is communicated with the operation and control hidden danger assessment module. The operation and control hidden danger assessment module is used to set an assessment period, analyze the degree of operation and control safety hidden dangers of the carrier device within the assessment period, generate an operation and control hidden danger warning signal or an operation and control safety signal through analysis, and send the operation and control hidden danger warning signal or the operation and control safety signal to the remote monitoring terminal. When the remote monitoring terminal receives the operation and control hidden danger warning signal, it will issue a corresponding warning.

8. The operation control system for a carrier according to claim 7, characterized in that: The specific analysis process of the operation control hidden danger assessment module is as follows: The total number of abnormal capture warning signals generated during the evaluation period is collected and the ratio thereof is calculated with the total movement time of the load-carrying device during the evaluation period to obtain the abnormal capture warning value, and the total number of load-carrying warning signals generated during the evaluation period is collected and the ratio thereof is calculated with the total load-carrying operation time of the load-carrying device during the evaluation period to obtain the load-carrying warning value; The failure rate of the load-carrying device in avoiding obstacles during the evaluation period is collected and marked as the avoidance analysis value. The operation and control hidden danger assessment value is obtained by numerically calculating the abnormal capture warning value, the load warning value and the avoidance analysis value. If the operation and control hidden danger assessment value exceeds the preset operation and control hidden danger assessment threshold, an operation and control hidden danger warning signal is generated; if the operation and control hidden danger assessment value does not exceed the preset operation and control hidden danger assessment threshold, an operation and control safety signal is generated.

9. A method for controlling the operation of a loading device, characterized in that: The method adopts the operation control system for the object carrying device as described in any one of claims 1-8.

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