Vehicle early warning method, stacking machine and computer readable storage medium

Abstract

The invention provides a vehicle early warning method, a stacking machine and a computer readable storage medium, the method is applied to a vehicle, the vehicle comprises a mast part and a cargo carrying part, and the cargo carrying part is used for moving along the mast part to load and unload a container after the container is loaded and fixed. Comprising the steps of determining position information of a second container after a first container is loaded on a cargo carrying piece and fixed; the row where the second container is located is adjacent to the row where the first container is located, and the second container and the first container are arranged side by side or the second container presses the first container. The position information comprises the first length of the second container pressing the first container and / or the inclination angle of the second container relative to the gravity direction; and if the position information meets the early warning condition, outputting warning information for indicating that the loading and unloading container has the safety risk. According to the technical scheme, the probability of safety accidents can be reduced, and the safety of loading and unloading containers of the safety stacking machine is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle loading and unloading, and in particular to a vehicle early warning method, a forklift, and a computer-readable storage medium. Background Art

[0002] During the actual loading and unloading process of containers, if many containers are piled together, the forklift can grab one container at a time, unload the container and move it to other areas.

[0003] However, if too many containers are stacked together, the rear containers may press down on the front containers. After the forklift grabs the front low-level box and lifts the front container, it may lift up the rear container, causing the rear container to collapse, or the rear container and the containers adjacent to the rear container to collapse, or even most or all of the containers to collapse, resulting in a serious safety accident. Summary of the Invention

[0004] The embodiments of the present application provide a vehicle warning method, a forklift, and a computer-readable storage medium, which can reduce the probability of safety accidents and improve the safety of loading and unloading containers by a safety forklift.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, a vehicle early warning method is provided, which is applied to a vehicle, wherein the vehicle includes a mast member and a cargo member, and the cargo member is used to move along the mast member to load and unload containers after loading and fixing the containers, including: after the cargo member loads the first container and fixes the first container, determining the position information of the second container; wherein the row where the second container is located is adjacent to the row where the first container is located, and the second container is arranged side by side with the first container or the second container presses the first container; the position information includes a first length of the second container pressing on the first container and / or an inclination angle of the second container relative to the direction of gravity; if the position information meets the early warning condition, outputting a warning message; wherein the warning message is used to indicate that there is a safety risk in loading and unloading containers.

[0007] In this application, if the location information of the second container meets the early warning conditions, a warning message is output to indicate that there is a safety risk in loading and unloading the container, so as to prompt the driver and other relevant personnel to take corresponding measures to avoid container collapse, reduce the probability of safety accidents, and improve the safety of safe vehicles loading and unloading containers.

[0008] In combination with the first aspect, in a possible design, the warning condition includes that the first length is greater than or equal to a first length threshold and / or the tilt angle is greater than or equal to an angle threshold.

[0009] It will be appreciated that if the first length of the second container pressing against the first container is greater than or equal to a first length threshold, this indicates that the second container is pressing against the first container. If the vehicle secures the second container and lifts the second container, there is a high probability that the target container will be lifted, causing the container to collapse, resulting in a high risk of container collapse. Therefore, if the first length of the second container pressing against the first container is greater than or equal to the first length threshold, a warning message indicating a safety risk in container loading and unloading is output. Similarly, if the tilt angle of the first container is greater than or equal to a tilt angle threshold, this indicates that the second container is pressing against the first container. If the vehicle secures the second container and lifts the second container, there is a high probability that the target container will be lifted, causing the container to collapse, resulting in a high risk of container collapse. Therefore, if the tilt angle of the first container is greater than or equal to a tilt angle threshold, a warning message indicating a safety risk in container loading and unloading is output. Therefore, the warning conditions include the first length being greater than or equal to the first length threshold and / or the tilt angle being greater than or equal to the angle threshold.

[0010] In the present application, when the vehicle fixes the second container and lifts the second container, if the first length is greater than or equal to the first length threshold and / or the tilt angle is greater than or equal to the angle threshold, it indicates that there is a high probability that the target container will be lifted. In this case, a warning message is output to indicate that there is a safety risk in loading and unloading the container, which can improve the accuracy of risk warning.

[0011] In combination with the first aspect, in a possible design, the method further includes: if the tilt angle is greater than or equal to an angle threshold, the vehicle sends a braking signal to the cargo member; wherein the braking signal is used to instruct the cargo member to stop moving along the mast member.

[0012] In the present application, in addition to outputting warning information indicating that there are safety risks in loading and unloading containers, the vehicle will also control the lifting part of the cargo carrier to stop moving along the mast part, thereby timely avoiding the collapse of the container that may be caused by further lifting the second container to a certain extent, thereby improving the safety of vehicle loading and unloading containers.

[0013] In combination with the first aspect, in a possible design, outputting the warning information includes: displaying the warning information on a display screen of the vehicle and / or playing the warning information using an audio playback device.

[0014] In this application, through dual prompts of vision (display screen displays warning information) and / or hearing (sound warning), the driver and other relevant personnel can be prompted to take corresponding measures to avoid container collapse, reduce the probability of safety accidents, and improve the safety of loading and unloading containers by safe forklifts.

[0015] In combination with the first aspect, in one possible design method, a laser radar is set on the vehicle to determine the location information of the second container, including: obtaining point cloud data obtained by the laser radar scanning the surrounding environment; and obtaining the location information of the second container based on the point cloud data.

[0016] In this application, the point cloud data is composed of a large number of precise three-dimensional coordinate points. The position information of the second container is obtained based on the point cloud data, and a more accurate inclination angle and the first length can be obtained. It can more accurately detect whether there is a risk of container collapse, thereby improving the safety of vehicle loading and unloading containers.

[0017] In combination with the first aspect, in a possible design method, if the position information includes a first length of the second container pressing on the first container, obtaining the position information of the second container based on the point cloud data includes: determining the distance between the laser radar and a surface of the second container close to the laser radar based on the point cloud data; and determining the first length based on the distance and the width of the second container.

[0018] In combination with the first aspect, in a possible design, determining the location information of the second container includes: periodically determining the location information of the second container.

[0019] In the present application, since the position information of the second container will basically change during the process of the vehicle fixing the first container and lifting the first container, especially when the second container presses the first container, after detecting that the cargo piece fixes the first container, the position information of the second container is periodically determined, which can more accurately detect whether there is a risk of container collapse and improve the safety of vehicle loading and unloading containers.

[0020] In a second aspect, an embodiment of the present application provides a forklift comprising: a mast member and a cargo member, wherein the cargo member is used to move along the mast member to load and unload containers after loading and securing the containers; wherein the forklift is used to execute the vehicle warning method of the first aspect mentioned above.

[0021] In combination with the second aspect, in a possible design, a laser radar is provided on the mast member.

[0022] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the vehicle warning method of the first aspect mentioned above.

[0023] In a fourth 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 processor of a computer device, the computer device is enabled to execute the vehicle warning method of the first aspect mentioned above.

[0024] Among them, the technical effects brought about by any design method in the second to fourth aspects can refer to the technical effects brought about by different design methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Shown is a schematic diagram of a scenario in which a forklift is loading and unloading a container according to an exemplary embodiment of the present application;

[0026] Figure 2 FIG2 is a flow chart of a vehicle warning method provided by an exemplary embodiment of the present application;

[0027] Figure 3 Shown is a schematic diagram of a container pressing another container provided by an exemplary embodiment of the present application;

[0028] Figure 4 Shown is a schematic diagram of a scenario of a vehicle loading and unloading a container provided by an exemplary embodiment of the present application;

[0029] Figure 5 Shown is a schematic diagram of a scenario of a vehicle loading and unloading a container provided by an exemplary embodiment of the present application;

[0030] Figure 6 FIG2 is a flow chart of a vehicle warning method provided by another exemplary embodiment of the present application;

[0031] Figure 7 Shown is a schematic structural diagram of a vehicle warning device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0032] 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.

[0033] Application Overview

[0034] As described in the background technology above, when a large number of containers are stacked together, the rear row of containers may press down on the front row of containers. After the forklift grabs the front row of low-level containers and lifts the front row of containers, it may lift up the rear row of containers, causing the rear row of containers to collapse, or the rear row of containers and the containers adjacent to the rear row of containers to collapse, or even most or all of the containers to collapse, resulting in a serious safety accident.

[0035] For example, Figure 1 The figure shows a schematic diagram of a scenario in which a forklift is loading and unloading a container according to an exemplary embodiment of the present application. Figure 1 As shown, the scene includes a forklift 100, a driver 200, and a container stacking area 300. The forklift 100 includes a vehicle body 110, wheels 120, a cab 130, a mast 140, and a cargo carrier 150. The cargo carrier 150 includes a lifting portion 151 and a cargo carrier 152, wherein the cargo carrier 152 is fixedly connected to the lifting portion 151. Exemplarily, the cargo carrier 152 can be two snap fasteners symmetrically arranged on both sides of the mast 140. In this scene, the driver 200 can control the movement of the cargo carrier 150 along the mast 140 through a device such as a joystick in the cab 130. The movement can be upward or downward, etc.

[0036] In the container stacking area 300, filled containers can be stacked in rows and columns. It is understood that a container is a reusable, standard-sized container capable of carrying cargo. Multiple containers stacked together require securing them to other containers, vehicles, or stacking racks using corner fittings and locks (e.g., twist locks) at the bottom of the containers to prevent them from collapsing.

[0037] Container 301 is a container close to the forklift 100 and is the container to be unloaded. Container 302 is a container in a row of containers adjacent to the row where container 301 is located. Container 301 is a front row container, and container 302 is a back row container. The position of container 302 is higher than that of container 301.

[0038] During the process of the stacker 100 unloading the container 301, first, the stacker 100 uses the cargo portion 152 of the cargo member 150 to fix the container 301, then controls the cargo member 150 to move upward along the mast member 140 for a distance so that the locks (such as twist locks) of the container 301 and other containers are released, and then moves downward along the mast member 140 to unload the container 301 and transport the container 301 to another area. Exemplarily, the cargo portion 152 can be a snap fastener. During the process of the stacker 100 unloading the container 301, if the container 302 presses on the container 301, when the stacker 100 uses the cargo portion 150 to fix the container 301 and lifts the container 301, the rear row of containers, such as the container 302, may be lifted, causing the container 302 to collapse, resulting in a more serious safety accident.

[0039] In response to the above technical problems, an embodiment of the present application provides a vehicle early warning method, which is applied to a vehicle, which includes a mast member and a cargo member, and the cargo member is used to move along the mast member to load and unload containers after loading and fixing the containers, including: after the cargo member loads the first container and fixes the first container, determining the position information of the second container; the row where the second container is located is adjacent to the row where the first container is located, and the second container is arranged side by side with the first container or the second container presses the first container; the position information includes the first length of the second container pressing on the first container and / or the inclination angle of the second container relative to the direction of gravity; if the position information meets the early warning conditions, a warning message is output; wherein the warning message is used to indicate that there is a safety risk in loading and unloading containers.

[0040] In an embodiment of the present application, if the location information of the second container meets the warning conditions, a warning message is output to indicate that there is a safety risk in loading and unloading the container, so as to prompt the driver and other relevant personnel to take corresponding measures to avoid container collapse, reduce the probability of safety accidents, and improve the safety of loading and unloading containers by the safety forklift.

[0041] The vehicle of the embodiment of the present application can be various vehicles capable of loading and unloading containers, such as stackers, forklifts, etc., but not limited to. Among them, stackers can also be called stackers, stackers, lifting vehicles, loading and unloading vehicles, lifting vehicles, stacking vehicles, etc., but not limited to these.

[0042] Example scenarios

[0043] The following uses a forklift as an example to introduce the vehicle warning method provided by the embodiment of the present application. Figure 1 , below, the vehicle warning method provided by the embodiment of the present application is described by taking the first container as 301 and the second container as container 302 as an example.

[0044] To facilitate the description of the various embodiments below, an XYZ coordinate system is established for the stacker 100 described in this embodiment and the following embodiments. Specifically, the direction of gravity on the stacker 100 is defined as the Z-axis, and the plane perpendicular to the Z-axis is defined as the XY plane. The direction from the front of the stacker 100 to the rear of the stacker 100 is defined as the X-axis, and the direction perpendicular to the X-axis within the XY plane is defined as the Y-axis. It is understood that the coordinate system of the stacker 100 can be flexibly configured based on actual needs and is not specifically limited here.

[0045] After the forklift 100 loads and secures the container 301 using the cargo carrier 150, it determines the position of the container 302. If this position meets the warning conditions, a warning message is output indicating a safety risk in loading and unloading the container. Specifically, the position information includes the length d1 of the container 302 pressing against the container 301 and the tilt angle ɑ of the container 302 relative to the Z direction.

[0046] If length d1 is greater than or equal to the first length threshold, it indicates that container 302 is pressing against container 301, further indicating a risk of container 302 lifting container 301. If tilt angle ɑ is greater than or equal to the angle threshold, it also indicates a risk of container 302 lifting container 301. Therefore, if length d1 is greater than or equal to the first length threshold and / or tilt angle ɑ is greater than or equal to the angle threshold, it indicates a safety risk in loading and unloading containers with container 302, and a warning message indicating the safety risk in loading and unloading containers is output.

[0047] The cab 130 includes a processor 131 and a display screen 132. Specifically, in one example, the forklift 100 can display warning information on the display screen 132.

[0048] In another example, the stacker 100 may also use an audio player to play the warning message. Further, in another example, the stacker 100 may use a speaker to play the warning message.

[0049] In another example, the stacker 100 may display the warning message on the display screen 132 or play the warning message using an audio playback device.

[0050] In this way, the driver 200 is reminded visually and / or audibly that there are safety risks in loading and unloading containers, so as to prompt the driver 200 to take corresponding measures to avoid container collapse, reduce the probability of safety accidents, and improve the safety of loading and unloading containers by the safety forklift.

[0051] It can be understood that the vehicle warning method provided in the embodiment of the present application can be specifically executed by the processor 131.

[0052] It should be understood that the above application scenario examples are only provided to facilitate understanding of the spirit and principles of the present application, and the embodiments of the present application are not limited thereto. On the contrary, the embodiments of the present application can be applied to any applicable scenario.

[0053] Exemplary Methods

[0054] Figure 2 Shown is a flow chart of a vehicle warning method provided by an exemplary embodiment of the present application. Figure 2 The method may be performed by a vehicle, such as Figure 1The forklift 100 is executed in the embodiment of the present invention, the vehicle includes a mast member and a cargo member, the cargo member is used to move along the mast member to load and unload the container after loading and securing the container. Figure 2 As shown, the vehicle early warning method may include the following steps:

[0055] 210: After the cargo piece is loaded into the first container and the first container is secured, position information of the second container is determined.

[0056] As described in the application overview above, after the cargo carrier is loaded with the first container and secured, the vehicle will control the cargo carrier to move upward along the mast member for a distance to release the locks (such as twist locks) between the container and other containers, and then move downward along the mast member to unload the container and transport it to another area. During the process of unloading the container by the aforementioned vehicle, if other containers press out the container to be unloaded, the container to be unloaded may lift up other containers that press on the container due to movement, causing the container to collapse, resulting in a more serious safety accident. Therefore, it can be seen that after the cargo carrier is loaded with the first container and secured, the risk of container collapse may occur at any time. Therefore, in order to minimize the risk of container collapse, it is necessary to determine the position information of the second container to determine whether to output a warning message indicating that there is a safety risk in loading and unloading the container.

[0057] The second container is located in a row adjacent to the first container, and the second container is placed side by side with the first container or on top of the first container. The second container has two opposing surfaces in the direction of gravity. "Side by side" placement of the first and second containers means that one of the two surfaces is higher than the top surface of the first container in the direction of gravity, and the other of the two surfaces is lower than the top surface of the first container or is flush with the top surface of the second container in the direction of gravity.

[0058] The second container presses the first container when one of the two surfaces is higher than the top surface of the first container in the direction of gravity, the other of the two surfaces is entirely or partially higher than the top surface of the first container in the direction of gravity, and the other of the two surfaces is entirely or partially on the top surface of the first container. Figure 1 ,like Figure 1 As shown, the container 302 pressing the container 301 means that one of the two surfaces is higher than the top surface of the container 301 in the Z direction, all or part of the other surface of the two surfaces is higher than the top surface of the container 301 in the Z direction, and all or part of the other surface of the two surfaces is on the top surface of the container 301.

[0059] The following describes several situations where the second container presses the first container. For example, Figure 3 The figure shows a schematic diagram of a container pressing another container provided by an exemplary embodiment of the present application. Figure 3 As shown, in the current viewing angle, the first container is container 301 and the second container is container 302. Figure 3 As shown in Figure (a), the right side of container 302 presses the right corner of container 301, as shown in Figure 3. Figure 3 As shown in FIG. 2( b ), the left side of container 302 presses the left corner of container 301. Figure 3 As shown in FIG. 5( c ), one entire side of the container 302 presses one entire side of the container 301 .

[0060] The position information includes the first length of the second container pressing against the first container and / or the tilt angle of the second container relative to the gravity direction. For example, the position information includes the length d1 of the container 302 pressing against the container 301 and the tilt angle ɑ of the container 302 relative to the Z direction.

[0061] In one example, regardless of the relative positional relationship between the first container and the second container, after the cargo piece is loaded onto the first container and the first container is secured, a first length of the second container pressing against the first container and an inclination angle of the second container relative to the direction of gravity are determined, and the first length and the inclination angle are used as criteria for determining whether to output a warning message in the following step 220.

[0062] In another example, if the second container is placed side by side with the first container and the second container does not press against the first container, then after the cargo unit is loaded into the first container and the first container is secured, only the tilt angle of the second container relative to the direction of gravity can be obtained. In this case, if the tilt angle is high, there is a risk that the unloading of the first container will cause the second container to collapse. Therefore, only the tilt angle of the second container relative to the direction of gravity can be obtained and used as the criterion for determining whether to output a warning message in step 220.

[0063] In another example, if the tilt angle of the second container is zero and the second container is pressing against the first container, then after the cargo carrier loads and secures the first container, a first distance that the second container is pressing against the first container is first determined, and the first distance is used as a criterion for determining whether to output a warning message in step 220. Then, as the cargo carrier, carrying the first container, moves along the mast to the target height for loading and unloading, the first container lifts the second container, potentially changing the first distance and the tilt angle of the second container. Therefore, during this process, the first distance that the second container is pressing against the first container and the tilt angle of the second container relative to the direction of gravity are periodically determined, and the first distance and the tilt angle are used as criterion for determining whether to output a warning message in step 220.

[0064] For example, Figure 4 and Figure 5 The figure shows a scene diagram of a vehicle loading and unloading a container provided by an exemplary embodiment of the present application. Figure 4 As shown, the angle ɑ of the container 302 is zero and the container 302 presses the container 301. The angle ɑ is an inclination angle. After the cargo piece loads the container 301 and fixes the container 301, the length d1 of the container 302 pressing the container 301 is first determined. The length d1 is the first length. The length d1 is used as the judgment standard for whether to output a warning message in the following step 220.

[0065] Then, in the process of the cargo piece carrying the container 301 moving along the mast piece to the target height for loading and unloading the container, since the container 301 will lift the container 302, the length d1 and the angle ɑ of the container 302 may change. Therefore, in this process, the length d1 of the container 302 pressing down on the container 301 and the angle ɑ of the container 302 relative to the direction of gravity are determined, and the length d1 and the angle ɑ are used as the judgment criteria for whether to output the warning information in the following step 220.

[0066] 220: If the location information meets the warning condition, a warning message is output; wherein the warning message is used to indicate that there is a safety risk in loading and unloading the container.

[0067] The specific contents of the early warning conditions will be introduced in detail below.

[0068] If the location information includes the first length and the tilt angle, determine whether the first length and the tilt angle meet the warning condition. If the location information includes only the first length, determine whether the first length meets the warning condition. If the location information includes only the tilt angle, determine whether the tilt angle meets the warning condition.

[0069] In an embodiment of the present application, if the location information of the second container meets the warning conditions, a warning message is output to indicate that there is a safety risk in loading and unloading the container, so as to prompt the driver and other relevant personnel to take corresponding measures to avoid the collapse of the container, reduce the probability of safety accidents, and improve the safety of loading and unloading containers by safe vehicles.

[0070] It is understood that if the first length of the second container pressing against the first container is less than or equal to zero, it indicates that the second container is not pressing against the first container. If the first length of the second container pressing against the first container is greater than zero and less than a first length threshold, it indicates that although the second container is pressing against the first container, if the vehicle secures the second container and lifts the second container, there is a high probability that the target container will not be lifted, and the container will not collapse, and the risk of container collapse is reduced. If the first length of the second container pressing against the first container is greater than or equal to the first length threshold, it indicates that the second container is pressing against the first container, and if the vehicle secures the second container and lifts the second container, there is a high probability that the target container will be lifted, causing the container to collapse, and the risk of container collapse is high. Therefore, if the first length of the second container pressing against the first container is greater than or equal to the first length threshold, a warning message indicating that there is a safety risk in loading and unloading containers is output.

[0071] Similarly, if the tilt angle of the first container is greater than zero and less than the tilt angle threshold, this indicates that although the second container is pressing against the first container, if the vehicle secures and lifts the second container, there is a high probability that the target container will not be lifted, essentially preventing container collapse, and the risk of container collapse is reduced. If the tilt angle of the first container is greater than or equal to the tilt angle threshold, this indicates that the second container is pressing against the first container, and if the vehicle secures and lifts the second container, there is a high probability that the target container will be lifted, causing container collapse, and the risk of container collapse is high. Therefore, if the tilt angle of the first container is greater than or equal to the tilt angle threshold, a warning message indicating a safety risk in loading and unloading the container is output.

[0072] Therefore, according to an embodiment of the present application, the warning condition includes any one of the following:

[0073] 1. The first length is greater than or equal to the first length threshold;

[0074] 2. The tilt angle is greater than or equal to the angle threshold;

[0075] 3. The first length is greater than or equal to a first length threshold and the tilt angle is greater than or equal to an angle threshold.

[0076] In the embodiment of the present application, the first length threshold may be a value obtained through multiple tests, and the tilt angle may also be a value obtained through multiple tests.

[0077] In an embodiment of the present application, when the vehicle fixes the second container and lifts the second container, if the first length is greater than or equal to the first length threshold and / or the tilt angle is greater than or equal to the angle threshold, it indicates that there is a high probability that the target container will be lifted. In this case, outputting a warning message can improve the accuracy of the risk warning.

[0078] If the tilt angle of the first container is greater than or equal to the tilt angle threshold, it means that the second container is pressing on the first container, and when the vehicle fixes the second container and lifts the second container, there is a high probability that the target container will be lifted up, causing the container to collapse. The risk of container collapse is high. Therefore, when the tilt angle of the first container is greater than or equal to the tilt angle threshold, in addition to outputting a warning message, the vehicle can also send a braking signal to the cargo piece; wherein the braking signal is used to instruct the cargo piece to stop moving along the mast piece. Specifically, in one example, the processor in the vehicle sends a braking signal to the cargo piece. For example, please continue to refer to Figure 1 , the processor 131 in the forklift 100 sends a braking signal to the cargo member 150.

[0079] In an embodiment of the present application, in addition to outputting warning information indicating that there are safety risks in loading and unloading containers, the vehicle will also control the lifting part of the cargo carrier to stop moving along the mast part, thereby timely avoiding the phenomenon of container collapse that may be caused by further lifting the second container to a certain extent, thereby improving the safety of vehicle loading and unloading containers.

[0080] According to an embodiment of the present application, the vehicle may output warning information in any of the following ways:

[0081] 1. Display warning information on the vehicle's display screen;

[0082] 2. Use an audio playback device to play warning information;

[0083] 3. Displaying the warning information on the vehicle's display screen and playing the warning information using an audio playback device.

[0084] Furthermore, in one example, the audio playback device may include a speaker, the warning information is sound information, and the vehicle may play the warning information using the speaker.

[0085] In one example, the warning information may be a warning icon, which may be displayed on the vehicle's display screen. In another example, the warning information may be a text message, which may be displayed on the vehicle's display screen. In another example, the warning information may be a warning icon and a text message, which may be displayed on the vehicle's display screen.

[0086] In the embodiment of the present application, through dual prompts of vision (displaying warning information on the display screen) and / or hearing (sound warning), the driver and other relevant personnel can be prompted to take corresponding measures to avoid container collapse, reduce the probability of safety accidents, and improve the safety of loading and unloading containers by safety forklifts.

[0087] The vehicle is equipped with a laser radar (LIDAR) that can be used to determine the position of the second container, as described in detail below. The vehicle uses the LIDAR to scan its surroundings, generating point cloud data of the environment ahead within the LIDAR's field of view. Based on this point cloud data, the position of the second container is determined, specifically the first distance the second container is pressing against the first container and / or the tilt angle of the second container. Point cloud data refers to a set of vectors in a three-dimensional coordinate system.

[0088] For example, Figure 4 As shown, a laser radar 160 is installed on the cargo carrier 150. This laser radar can scan the environment ahead, such as area A1, and obtain point cloud data for area A1. This scenario is when the forklift 100 uses the cargo carrier 152 to secure the container 301 and does not lift the container 301. If the container 302 is pressing against the container 301, the length d1 of the pressure between the container 302 and the tilt angle ɑ of the container 302 can be determined based on the point cloud data of area A1 to be zero. Here, the laser radar 160 is equivalent to a point, and the surface of the container 302 close to the forklift 100 is equivalent to a plane. The distance from the laser radar 160 to the plane is the length d1. The point-to-plane distance refers to the minimum length d1 from a point in space to a point in a plane.

[0089] For example, Figure 5 As shown, a laser radar 160 is mounted on the cargo carrier 150. This laser radar can scan the environment ahead, such as area A2, and obtain point cloud data for area A2. This scenario involves the forklift 100 securing and lifting a container 301 using the cargo carrier 152. If container 302 is pressing against container 301, the length d1 of the pressure between container 302 and container 301 and the tilt angle ɑ of container 302 can be determined based on the point cloud data for area A2. Exemplarily, the laser radar can be a three-dimensional multi-line laser radar.

[0090] Specifically, determining the first length of the second container pressing against the first container based on the point cloud data includes: determining the distance between the laser radar and a surface of the second container close to the laser radar based on the point cloud data, and determining the first length of the second container pressing against the first container based on the distance and the width of the second container. For example, please continue to refer to Figure 4 ,like Figure 4 As shown, the width d3 of all containers along the X direction is 2.438 meters, the distance between the laser radar 160 and a surface of the container 302 close to the laser radar is the distance d2, and the difference between the width d3 and the distance d2 is the length d1 of the container 302 pressing the container 301.

[0091] It is understood that the dimensions of a container are generally standard dimensions (length x width x height). These dimensions are stored in the vehicle. When the width of a second container is needed, the stored dimensions of the container can be retrieved from the vehicle to obtain the width of the second container. For example, Table 1 below shows the types and dimensions of two containers.

[0092] Table 1

[0093]

[0094]

[0095] As shown in Table 1, if the container type is a 20-foot container, the external dimensions of the container are 6.058 meters × 2.438 meters × 2.591 meters. If the container type is a 40-foot container, the external dimensions of the container are 12.192 meters × 2.438 meters × 2.591 meters.

[0096] In an embodiment of the present application, the point cloud data is composed of a large number of precise three-dimensional coordinate points. The position information of the second container is obtained based on the point cloud data, and a more accurate inclination angle and the first length can be obtained. It can be more accurately detected whether there is a risk of container collapse, thereby improving the safety of vehicle loading and unloading containers.

[0097] Because the position information of the second container will generally change during the process of the vehicle securing and lifting the first container, especially when the second container is pressing against the first container, periodically determining the position information of the second container after detecting that the cargo item has secured the first container can more accurately detect whether there is a risk of container collapse, thereby improving the safety of vehicle loading and unloading containers. Specifically, according to one embodiment of the present application, determining the position information of the second container includes: periodically determining the position information of the second container.

[0098] Figure 6 Shown is a flow chart of a vehicle warning method provided by another exemplary embodiment of the present application. Figure 6 The embodiment is Figure 2 For the example of embodiment, in order to avoid repetition, the same points can be referred to the description in the above embodiment, which will not be repeated here. Figure 6 As shown, the vehicle warning method may include the following steps.

[0099] 610: After detecting that the cargo member fixes the target container, periodically determine a first length of the second container pressing the first container and an inclination angle of the second container relative to the direction of gravity.

[0100] 620: If the first length is greater than or equal to a first length threshold and the tilt angle is greater than or equal to an angle threshold, output a warning message; wherein the warning message is used to indicate that there is a safety risk in loading and unloading the container.

[0101] Exemplary devices

[0102] Figure 7 The figure shows a schematic diagram of the structure of a vehicle warning device provided by an exemplary embodiment of the present application. Figure 7 As shown, the vehicle warning device 700 includes: a determination module 710 and a warning module 720. The vehicle warning device 700 is applied to a vehicle, which includes a mast and a cargo carrying member. The cargo carrying member is used to move along the mast to load and unload containers after loading and securing the containers, and includes:

[0103] The determination module 710 is used to determine the position information of the second container after the cargo piece is loaded into the first container and the first container is fixed; wherein, the row where the second container is located is adjacent to the row where the first container is located, and the second container is arranged side by side with the first container or the second container presses the first container; the position information includes the first length of the second container pressing on the first container and / or the inclination angle of the second container relative to the direction of gravity; the early warning module 720 is used to output a warning message if the position information meets the early warning condition; wherein the warning message is used to indicate that there is a safety risk in loading and unloading containers.

[0104] An embodiment of the present application provides a vehicle warning device, which outputs warning information indicating that there is a safety risk in loading and unloading the container if the position information of the second container meets the warning conditions, so as to prompt the driver and other relevant personnel to take corresponding measures to avoid container collapse, reduce the probability of safety accidents, and improve the safety of loading and unloading containers by safety forklifts.

[0105] According to an embodiment of the present application, the warning condition includes that the first length is greater than or equal to a first length threshold and / or the tilt angle is greater than or equal to an angle threshold.

[0106] According to an embodiment of the present application, the method further includes: if the tilt angle is greater than or equal to an angle threshold, the vehicle sends a braking signal to the cargo carrying member; wherein the braking signal is used to instruct the cargo carrying member to stop moving along the mast member.

[0107] According to an embodiment of the present application, outputting the warning information includes: displaying the warning information on a display screen of the vehicle and / or playing the warning information using an audio playback device.

[0108] According to one embodiment of the present application, a laser radar is provided on the vehicle to determine the location information of the second container, including: obtaining point cloud data obtained by the laser radar scanning the surrounding environment; and obtaining the location information of the second container based on the point cloud data.

[0109] According to one embodiment of the present application, if the location information includes a first length of the second container pressing against the first container, obtaining the location information of the second container based on the point cloud data includes: determining the distance between the laser radar and a surface of the second container close to the laser radar based on the point cloud data; and determining the first length based on the distance and the width of the second container.

[0110] According to an embodiment of the present application, determining the location information of the second container includes: periodically determining the location information of the second container.

[0111] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor of a computer device, the computer device is enabled to execute the vehicle warning method or model training method provided in any of the above embodiments.

[0112] All of the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, and will not be described in detail here.

[0113] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0114] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0116] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0117] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0118] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program check codes.

[0119] It should be noted that, in the description of this application, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of this application, unless otherwise specified, "plurality" means two or more.

[0120] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0121] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vehicle early warning method, characterized in that: The method is applied to a vehicle, the vehicle comprising a mast member and a cargo member, the cargo member being used to move along the mast member to load and unload containers after loading and securing the containers, and comprising: After the cargo unit is loaded with a first container and the first container is secured, determining position information of a second container; wherein the row of the second container is adjacent to the row of the first container, and the second container is arranged side by side with the first container or the second container presses down on the first container; the position information includes a first length of the second container pressing down on the first container and / or an inclination angle of the second container relative to a direction of gravity; If the location information meets the early warning condition, a warning message is output; wherein the warning message is used to indicate that there is a safety risk in loading and unloading the container.

2. The vehicle warning method according to claim 1, characterized in that: The warning condition includes that the first length is greater than or equal to a first length threshold and / or the tilt angle is greater than or equal to an angle threshold.

3. The vehicle warning method according to claim 2, characterized in that: The method further includes: if the tilt angle is greater than or equal to an angle threshold, the vehicle sending a braking signal to the cargo carrying member; wherein the braking signal is used to instruct the cargo carrying member to stop moving along the mast member.

4. The vehicle warning method according to claim 1, characterized in that: The output warning information includes: The warning information is displayed on a display screen of the vehicle and / or played using an audio playback device.

5. The vehicle warning method according to claim 1, characterized in that: The vehicle is provided with a laser radar, and the determining of the position information of the second container includes: Obtaining point cloud data obtained by scanning the surrounding environment by the laser radar; The location information of the second container is obtained based on the point cloud data.

6. The vehicle warning method according to claim 5, characterized in that: If the position information includes a first length by which the second container presses the first container, obtaining the position information of the second container based on the point cloud data includes: determining a distance between the laser radar and a surface of the second container close to the laser radar based on the point cloud data; The first length is determined based on the distance and a width of the second container.

7. The vehicle warning method according to any one of claims 1 to 6, characterized in that: The determining the location information of the second container includes: The position information of the second container is periodically determined.

8. A forklift, characterized in that: include: A mast member and a cargo member, wherein the cargo member is used to move along the mast member to load and unload containers after loading and securing the containers; wherein the forklift is used to execute the vehicle early warning method according to any one of claims 1 to 7 above.

9. The stacker according to claim 8, characterized in that: A laser radar is arranged on the mast.

10. A computer-readable storage medium, characterized in that The storage medium stores a computer program, and the computer program is used to execute the vehicle warning method according to any one of claims 1 to 7.

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