Carrier processing method, system and equipment based on carrying equipment and medium

Abstract

The embodiment of the invention relates to the technical field of warehousing, and discloses a carrier processing method, system, equipment and medium based on carrying equipment, the method comprises the following steps: obtaining carrier detection information of a target carrier, the carrier detection information being collected by a detection sensor group on the carrying equipment, the detection sensor group comprises a plurality of detection sensors arranged along the edge and / or the middle of the carrying equipment vehicle body; determining a placement state of the target carrier based on the carrier detection information; based on the placement state and the carrier type of the target carrier, controlling a carrying device to carry the target carrier, and / or outputting alarm information; wherein the carrier type comprises a first carrier type or a second carrier type, the first carrier type indicates that the target carrier is a carrier being carried by the carrying equipment, and the second carrier type indicates that the target carrier is a carrier to be carried when the carrying equipment reaches the target storage position. According to the technical scheme, the carrying safety of the carrier can be guaranteed, and the carrying efficiency is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of warehousing technology, specifically to carrier handling methods, systems, equipment, and media based on handling equipment. Background Technology

[0002] In a warehousing environment, in order to improve the efficiency of goods handling, vehicles are used to store goods. When handling goods, the handling equipment can directly move the vehicles on which the goods are placed.

[0003] However, if a vehicle becomes tilted during transport or placement, it can lead to problems such as falling or jamming, affecting cargo handling efficiency and posing significant safety hazards. Therefore, a solution is urgently needed that can accurately detect and address the condition of vehicles. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a carrier handling method, system, device and medium based on a handling device to solve the problem that the prior art cannot detect the placement status of the carrier and process it.

[0005] According to one aspect of the present invention, a vehicle handling method based on a transport device is provided. The method includes: acquiring vehicle detection information of a target vehicle, the vehicle detection information being collected by a detection sensor group on the transport device, the detection sensor group including a plurality of detection sensors disposed along the edge and / or middle of the transport device body; determining the placement state of the target vehicle based on the vehicle detection information; controlling the transport device to transport the target vehicle based on the placement state and the vehicle type of the target vehicle; and / or outputting alarm information; wherein the vehicle type includes a first vehicle type or a second vehicle type, the first vehicle type indicating that the target vehicle is a vehicle being transported by the transport device, and the second vehicle type indicating that the target vehicle is a vehicle to be transported when the transport device arrives at a target storage location.

[0006] In some embodiments, controlling the transport device to transport the target vehicle and / or output alarm information based on the placement state and the vehicle type of the target vehicle includes: when the vehicle type of the target vehicle is the first vehicle type and the placement state indicates that the target vehicle is placed correctly, controlling the transport device to continue transporting the target vehicle until the target vehicle is transported to the destination position; when the vehicle type of the target vehicle is the first vehicle type and the placement state indicates that the target vehicle is placed crookedly, controlling the transport device to transport the target vehicle to the vehicle correction area to correct the placement position of the target vehicle.

[0007] In some embodiments, controlling the transport device to transport the target vehicle and / or outputting alarm information based on the placement state and the vehicle type of the target vehicle includes: outputting a first alarm message when the vehicle type of the target vehicle is the first vehicle type and the placement state indicates that the target vehicle is placed crookedly, the first alarm message being used to prompt that the target vehicle is placed crookedly on the transport device.

[0008] In some embodiments, controlling the handling device to move the target vehicle and / or output alarm information based on the placement state and the vehicle type of the target vehicle includes: when the vehicle type of the target vehicle is the second vehicle type and the placement state indicates that the target vehicle is placed correctly, controlling the handling device to acquire the target vehicle and move it; when the vehicle type of the target vehicle is the second vehicle type and the placement state indicates that the target vehicle is placed abnormally, controlling the handling device to adjust the device posture based on the placement state, so as to acquire the target vehicle and move it after the adjustment is completed; wherein, the abnormal placement of the target vehicle includes the target vehicle being placed crookedly in the target storage position, or the target storage position not having the target vehicle placed.

[0009] In some embodiments, controlling the handling device to move the target vehicle and / or outputting alarm information based on the placement status and the vehicle type of the target vehicle includes: outputting a second alarm message when the vehicle type of the target vehicle is the second vehicle type and the placement status indicates that the target vehicle is placed abnormally, the second alarm message being used to prompt that the target vehicle is placed abnormally in the target storage location; wherein, the abnormal placement of the target vehicle includes the target vehicle being placed crookedly in the target storage location, or the target storage location not having the target vehicle placed.

[0010] In some embodiments, the method further includes: when the target vehicle's vehicle type is the first vehicle type and the placement status indicates that the target vehicle is placed skewed, determining the number of times the target vehicle is detected to be placed skewed within a preset time period, so that if the number of times is greater than a preset number threshold, controlling the handling device to move the target vehicle to a vehicle correction area to correct the placement position of the target vehicle; and / or, when the target vehicle's vehicle type is the first vehicle type and the placement status indicates that the skew angle of the target vehicle is greater than a preset angle threshold, controlling the handling device to move the target vehicle to a vehicle correction area to correct the placement position of the target vehicle.

[0011] In some embodiments, the vehicle calibration area is provided with at least one pushing component, and the method further includes: after the transport device transports the target vehicle to the vehicle calibration area, controlling the at least one pushing component to push the target vehicle along a preset pushing direction to calibrate the position of the target vehicle.

[0012] In some embodiments, the handling equipment operates in an automated warehouse having multiple storage layers, and the vehicle calibration area is located in any one or more of the multiple storage layers.

[0013] In some embodiments, the target vehicle is cuboid in shape and has multiple support structures arranged parallel to each other along the width direction of the target vehicle; when the target vehicle is correctly placed on the handling equipment, the multiple detection sensors are located at the edges of any one or more support structures along the length direction of the target vehicle, and the distance between two detection sensors located on both sides of the same support structure along the length direction of the target vehicle is less than the width of the same support structure.

[0014] In some embodiments, the detection sensor includes a linear photoelectric sensor, and the vehicle detection information includes detection information collected by multiple linear photoelectric sensors; wherein, the detection information is obtained by the linear photoelectric sensor emitting a detection signal in a preset direction and receiving the reflected signal from the edge of the target vehicle, and the preset direction is parallel to the vertically upward longitudinal axis of the target vehicle.

[0015] In some embodiments, the vehicle detection information includes the reflected signals of the target vehicle received by each detection sensor in the detection sensor group. Determining the placement status of the target vehicle based on the vehicle detection information includes: determining that the target vehicle is correctly placed when all the detection sensors receive the reflected signals of the target vehicle; determining that the target vehicle does not exist when the total signal loss rate of the reflected signals continuously received by all detection sensors in the detection sensor group is greater than a first threshold; and determining that the target vehicle is misplaced when the total signal loss rate of the reflected signals continuously received by all detection sensors in the detection sensor group is greater than a second threshold. Wherein, the first threshold is greater than the second threshold.

[0016] In some embodiments, the vehicle detection information includes vehicle pose parameters of the target vehicle collected by each detection sensor in the detection sensor group. Determining the placement state of the target vehicle based on the vehicle detection information includes: determining whether the pose state of the target vehicle meets preset pose conditions based on the vehicle pose parameters of the target vehicle collected by each detection sensor; determining that the target vehicle is correctly placed if the pose state of the target vehicle meets the preset pose conditions; and determining that the target vehicle is misplaced if the pose state of the target vehicle does not meet the preset pose conditions.

[0017] In some embodiments, the preset pose condition includes a preset offset threshold for the target vehicle. Determining whether the pose state of the target vehicle satisfies the preset pose condition based on the vehicle pose parameters collected by each of the detection sensors includes: determining the position offset of the target vehicle based on the vehicle pose parameters collected by each of the detection sensors; determining that the pose state of the target vehicle satisfies the preset pose condition if the position offset is less than the preset offset threshold; and determining that the pose state of the target vehicle does not satisfy the preset pose condition if the position offset is not less than the preset offset threshold.

[0018] According to another aspect of the present invention, a vehicle handling system based on a handling device is provided. The system includes: at least one vehicle for storing goods; at least one handling device including a vehicle body and a detection sensor group; the vehicle body being configured to carry the vehicle; the detection sensor group including a plurality of detection sensors disposed along the edge and / or the middle of the vehicle body, and the detection sensor group being configured to collect vehicle detection information of a target vehicle, wherein the at least one vehicle includes the target vehicle; and a control device configured to: acquire the vehicle detection information; determine the placement state of the target vehicle based on the vehicle detection information; control the handling device to move the target vehicle based on the placement state and the vehicle type of the target vehicle, and / or output alarm information; wherein the vehicle type includes a first vehicle type or a second vehicle type, the first vehicle type indicating that the target vehicle is a vehicle being moved by the handling device, and the second vehicle type indicating that the target vehicle is a vehicle to be moved when the handling device arrives at a target storage location.

[0019] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform operations of the carrier handling method based on a transport device as described above by executing the executable instructions.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the vehicle handling method based on a transport device as described above.

[0021] In summary, the carrier handling method, system, device, and medium based on the transport equipment according to embodiments of the present invention can acquire carrier detection information of a target carrier, determine the placement state of the target carrier based on the carrier detection information, and then control the transport equipment to transport the target carrier based on the placement state and the carrier type of the target carrier, and / or output alarm information. The carrier type includes a first carrier type or a second carrier type, where the first carrier type indicates that the target carrier is being transported by the transport equipment, and the second carrier type indicates that the target carrier is the carrier to be transported when the transport equipment arrives at the target storage location.

[0022] By applying this solution, on the one hand, the accuracy of detecting the placement status of the carrier can be improved through the detection sensor group on the handling equipment; on the other hand, by controlling the handling equipment to move the target carrier and output alarm information according to the placement status and type of the target carrier, the handling efficiency and the level of automation of warehousing can be improved while ensuring the safety of the handling carrier.

[0023] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0024] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0025] Figure 1 A schematic diagram of a vehicle handling system provided by an embodiment of the present invention is shown;

[0026] Figure 2 A schematic diagram of a handling device provided in an embodiment of the present invention is shown;

[0027] Figure 3 A flowchart of a vehicle handling method based on a handling device provided by an embodiment of the present invention is shown;

[0028] Figure 4 A schematic diagram of a target vehicle provided in an embodiment of the present invention is shown;

[0029] Figure 5A schematic diagram of the distribution of a detection sensor provided in an embodiment of the present invention is shown;

[0030] Figure 6 This diagram illustrates another distribution of a detection sensor group provided in an embodiment of the present invention.

[0031] Figure 7 This diagram illustrates a signal schematic of a detection sensor provided in an embodiment of the present invention.

[0032] Figure 8 A sub-flowchart of a vehicle processing method provided by an embodiment of the present invention is shown;

[0033] Figure 9 A sub-flowchart of another vehicle processing method provided by an embodiment of the present invention is shown;

[0034] Figure 10 A sub-flowchart of another vehicle processing method provided by an embodiment of the present invention is shown;

[0035] Figure 11 A sub-flowchart of another vehicle processing method provided by an embodiment of the present invention is shown;

[0036] Figure 12 A sub-flowchart of another vehicle processing method provided by an embodiment of the present invention is shown;

[0037] Figure 13 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention is shown. Detailed Implementation

[0038] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0039] In modern warehousing and logistics systems, material handling equipment plays a crucial role in the storage, retrieval, and transfer of goods due to its flexible mobility. Take a four-way vehicle as an example: its four-way capability allows it to move flexibly within the warehouse, transporting goods from one location to another.

[0040] During vehicle handling, the stable operation of handling equipment highly depends on the accurate perception and judgment of the vehicle's status. However, in existing vehicle detection methods, the judgment of the vehicle is easily biased due to factors such as the vehicle's own structure or surface features. It is difficult to accurately identify abnormalities such as vehicle tilting or deviation, which can lead to jamming of handling equipment, damage to goods, and other problems, seriously affecting the efficiency of goods handling.

[0041] In view of one or more of the above problems, an embodiment of the present invention provides a vehicle handling system based on a handling device. This vehicle handling system can improve the accuracy of detecting the placement state of a vehicle, and can control the handling device to handle the vehicle and output an alarm message according to the placement state and type of the vehicle, which can improve the handling efficiency and the automation level of the warehouse while ensuring the safety of vehicle handling.

[0042] Figure 1 FIG. is a schematic diagram of a vehicle handling system based on a handling device provided by an embodiment of the present invention. As Figure 1 shown, the vehicle handling system 100 based on the handling device may include at least one vehicle 110, at least one handling device 120, and a control device 130.

[0043] Among them, in at least one vehicle 110, each vehicle can be used to store goods. Exemplarily, the vehicle can be a pallet, a bin, a shelf, a customized carrying appliance, etc.

[0044] In some embodiments, the vehicle can have different shapes and structures. Taking a pallet as an example, the pallet can be a rectangular pallet with multiple support structures. The support structure can be support legs distributed at the four corners of the pallet, or multiple strip-shaped support legs distributed in different shapes.

[0045] For example, in a rectangular pallet, multiple strip-shaped support legs can be arranged in a grid pattern at the bottom of the pallet, and the multiple strip-shaped support legs can be distributed in a "field" shape, or multiple mutually parallel strip-shaped support legs can also be arranged along the length or width direction of the pallet at the bottom of the pallet, and the multiple mutually parallel strip-shaped support legs are distributed in a "river" shape.

[0046] In some embodiments, according to the type of the vehicle, the vehicle also has other shapes and structures. For example, multiple independently distributed columnar support legs can be provided at the bottom of the vehicle, such as 9 columnar support legs arranged in a 3×3 matrix. For the case where the vehicle is a light shelf or a light pallet, only a support leg with a simple shape can be provided at the bottom of the shelf or the pallet.

[0047] For the convenience of scheduling and management, the vehicles in at least one vehicle 110 can be default placed in the vehicle storage area. When picking or shipping the goods in the vehicle is required, the handling device then transports the vehicle from the vehicle storage area to the corresponding position. Among them, the vehicle storage area can be a ground area or an area in a stereoscopic warehouse.

[0048] In at least one handling device 120, each handling device can be used to handle the vehicles in at least one vehicle 110.

[0049] For example, the handling equipment may include a vehicle body and a sensor array. The vehicle body is configured to carry a carrier and is the core load-bearing structure of the handling equipment, providing basic support for the handling of goods. The sensor array includes multiple sensors disposed along the edges and / or the middle of the vehicle body, and is configured to collect carrier detection information of the target carrier. At least one carrier 110 includes a target carrier.

[0050] In some embodiments, multiple detection sensors can be arranged along the edge of the transport equipment vehicle body to form a detection sensor group, or a group of detection sensors can be arranged along the edge of the transport equipment vehicle body and a group of detection sensors can be arranged in the middle of the vehicle body. Each group of detection sensors includes one or more detection sensors, and the two groups of detection sensors form a detection sensor group.

[0051] In some embodiments, the detection sensors in the detection sensor group work together to collect the detection information of the vehicle, thereby obtaining vehicle detection information. This vehicle detection information can indicate whether the vehicle has been placed on the handling equipment or storage location, whether the placement position is correct, and whether there is any tilting or offset, providing key information for subsequent equipment operation control.

[0052] In some embodiments, the detection sensors in the detection sensor group may include any one or more of photoelectric sensors, ultrasonic sensors, laser sensors, and vision sensors.

[0053] For example, a photoelectric sensor can obtain vehicle detection information by emitting a detection signal and receiving the reflected signal from the vehicle. A vision sensor can be used to acquire image detection information of the vehicle.

[0054] In some embodiments, one or more location markers can be set at specific locations of the vehicle. The vision sensor can indirectly determine the placement status of the vehicle by acquiring image information of the location markers and determining the position and range of the location markers relative to the handling equipment.

[0055] In some embodiments, when the detection sensor group includes multiple types of detection sensors, the placement of the vehicle can be determined by correcting and fusing the detection information collected by the multiple detection sensors.

[0056] Figure 2 A schematic diagram of a handling device provided in this embodiment is shown, such as... Figure 2 As shown, the handling equipment is a four-way vehicle 200. The vehicle body 210 of the four-way vehicle 200 includes wheels 211 and a loading surface 212, on which a carrier 220 is mounted. The detection sensor group includes multiple detection sensors, such as... Figure 2The detection sensors 231 and 232 shown are both located on the loading surface 212 of the four-way vehicle 200 and are used to detect the placement status of the carrier 220 when the handling equipment is handling the carrier 220.

[0057] It should be noted that, Figure 2 The sensor configuration shown is for illustrative purposes only. Depending on actual needs, additional sensors can be installed in other locations. For example, two more sensors can be installed on the opposite side of the vehicle 220 in the width direction, forming a rectangular sensor array with sensors 231 and 232. Alternatively, multiple sensors can be installed in other locations.

[0058] The control device 130 is a device or tool for monitoring, operating, and adjusting the handling equipment. It can be used to control and manage at least one handling device 120. For example, the control device 130 can acquire the operating information of each handling device in at least one handling device 120 and control each handling device to move to the carrier storage area to move the corresponding carrier in the carrier storage area to a designated location.

[0059] In some embodiments, the control device 130 can determine the goods and quantity required by the order information issued by the order system, as well as the vehicle on which the goods are located, and then control the handling equipment to travel to the location of the vehicle and transport the vehicle to the picking area, so that the picking equipment or picking personnel in the picking area can pick the goods in the vehicle.

[0060] In some embodiments, the control device 130 may acquire vehicle detection information, determine the placement status of the target vehicle based on the vehicle detection information, and then control the handling equipment to move the target vehicle based on the placement status and the vehicle type of the target vehicle, and / or output alarm information.

[0061] The vehicle type may include a first vehicle type or a second vehicle type. The first vehicle type indicates that the target vehicle is a vehicle being transported by the transport equipment, and the second vehicle type indicates that the target vehicle is a vehicle to be transported when the transport equipment arrives at the target storage location. The target storage location may be the storage location where the target vehicle is located in the vehicle storage area.

[0062] For example, during the process of a transport device moving a target vehicle, the target vehicle is placed on the transport device. Therefore, the detection sensor group on the transport device can continuously detect the placement status of the target vehicle during the transport process to determine whether the position and orientation of the target vehicle are correct. When the transport device reaches the target storage location and is ready to move the target vehicle, the target vehicle enters the detection range of the detection sensor group on the transport device. At this time, the detection sensor group can collect the vehicle detection information of the target vehicle to determine whether the transport device can lift the target vehicle.

[0063] When the position and attitude of the target vehicle are abnormal or the handling equipment is unable to lift the target vehicle, the control device 130 can output an alarm message so that the operator can handle it in time and ensure the smooth progress of the vehicle handling process.

[0064] Based on the carrier handling system provided by the embodiments of the present invention, on the one hand, the accuracy of detecting the placement status of the carrier can be improved by the detection sensor group on the carrier; on the other hand, according to the placement status and type of the target carrier, the carrier handling system can be controlled to move the target carrier and output alarm information, which can improve the handling efficiency and the level of automation of warehousing while ensuring the safety of the carrier.

[0065] This invention also provides a vehicle handling method based on a handling device, which can be performed by... Figure 1 The control device 130 (hereinafter referred to as the control device) is executed to acquire the vehicle detection information of the target vehicle. Based on the vehicle detection information, the placement status of the target vehicle is determined. Then, according to the placement status and the vehicle type of the target vehicle, the handling equipment is controlled to move the target vehicle and output alarm information. This can improve the accuracy of detecting the placement status of the vehicle and ensure the safe operation of the handling equipment.

[0066] The vehicle processing method provided by the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0067] Figure 3 A flowchart of a vehicle handling method based on a handling device provided by an embodiment of the present invention is shown, as follows: Figure 3 As shown, the method may include the following steps 310 to 330:

[0068] Step 310: Obtain vehicle detection information for the target vehicle.

[0069] The vehicle detection information is collected by a sensor array on the handling equipment, which includes multiple sensors positioned along the edges and / or center of the handling equipment. The target vehicle can be a vehicle currently being handled by the handling equipment, or a vehicle to be handled when the handling equipment reaches the target storage location. The target storage location refers to the storage location where the target vehicle is stored; it can be any storage location within a ground area or an automated warehouse.

[0070] In some embodiments, the detection sensor may include any one or more of the following: photoelectric sensor, ultrasonic sensor, laser sensor, and vision sensor.

[0071] During the process of the transport equipment moving the target vehicle, or when the transport equipment arrives at the target storage location where the target vehicle is located, the target vehicle is within the detection range of the detection sensor group on the transport equipment. Therefore, the detection sensor group can be activated to detect the position and shape of the target vehicle in order to obtain vehicle detection information.

[0072] In some embodiments, the vehicle may have different structures and shapes depending on operational requirements. For example, the target vehicle may be cuboid in shape and may have multiple support structures arranged parallel to each other along the width direction of the target vehicle.

[0073] When the target vehicle is correctly placed on the handling equipment, multiple detection sensors are located at the edges of any one or more support structures along the length direction of the target vehicle, and the distance between two detection sensors located on opposite sides of the same support structure along the length direction of the target vehicle is less than the width of the same support structure.

[0074] To clearly illustrate the vehicle structure and the setup of the detection sensors, Figure 4 A schematic diagram of a target vehicle provided in this embodiment is shown, such as... Figure 4 As shown, the target vehicle 400 is rectangular and has three support structures, namely support structure 411, support structure 412 and support structure 413. These three support structures are parallel to each other along the width direction of the target vehicle.

[0075] by Figure 4 Based on the vehicle shown, Figure 5 This embodiment shows a schematic diagram of the distribution of a detection sensor, as shown below. Figure 5 As shown, when the target carrier 400 is correctly placed on the handling equipment 500, multiple detection sensors on the handling equipment 500, namely detection sensor 1 and detection sensor 2, are located along the length direction of the carrier at the edge of the support structure 412 in the middle of the target carrier 400. Furthermore, in the length direction of the target carrier 400, the distance h between two detection sensors located on both sides of the support structure 412 is less than the width H of the same support structure.

[0076] Based on the above structure, when the handling equipment is moving the target vehicle, multiple detection sensors installed on the handling equipment can be used to collect vehicle detection information, which can improve the accuracy of vehicle placement.

[0077] In some embodiments, multiple detection sensors may be positioned at other locations on the edge and / or in the middle of the conveying equipment. Figure 6 This embodiment shows a schematic diagram of the distribution of another detection sensor group, as shown below. Figure 6As shown, a set of lifting mechanisms 620, detection sensors 1, 2, 3 and 4 are provided on the loading surface 610 of the conveying equipment 600. These four detection sensors form a detection sensor group and constitute a rectangular sensor array.

[0078] In some embodiments, the detection sensor may include a linear photoelectric sensor, and the vehicle detection information includes detection information collected by multiple linear photoelectric sensors.

[0079] The detection information is obtained by a linear photoelectric sensor emitting a detection signal in a preset direction and receiving the reflected signal from the edge of the target vehicle. The preset direction is parallel to the vertically upward longitudinal axis of the target vehicle. That is, when the target vehicle is placed on the handling equipment, the linear photoelectric sensor emits a detection signal in the vertically upward direction. Figure 7 This embodiment shows a signal schematic diagram of a detection sensor, such as... Figure 7 As shown, the direction of the detection signal transmission is parallel to the vertically upward longitudinal axis of the target vehicle.

[0080] Linear photoelectric sensors are a type of photoelectric sensor. When collecting detection information, linear photoelectric sensors can emit detection signals in a preset direction. These detection signals can be modulated infrared light or visible light. The edges of the target vehicle can block, reflect, or scatter the detection signal. Therefore, linear photoelectric sensors can receive the reflected signals from the edges of the target vehicle and determine the detection information of the target vehicle based on the intensity of the reflected signals and the reception time.

[0081] In some embodiments, the detection sensor may include a vision sensor, and the vehicle detection information includes image detection information acquired by the vision sensor, which is detection information obtained by the vision sensor taking images in the direction of the target vehicle.

[0082] Step 320: Determine the placement status of the target vehicle based on the vehicle detection information.

[0083] The placement status of the target vehicle can indicate whether the target vehicle exists, whether the target vehicle is in the correct position, and whether the target vehicle is tilted or deviated.

[0084] After obtaining the vehicle detection information, the control device can perform data analysis on the vehicle detection information to determine the placement status of the target vehicle in the target storage location or on the handling equipment. For example, based on the vehicle detection information, the control device can parse the target vehicle's position coordinates, angle information, distance from surrounding objects, etc., thereby determining whether the target vehicle is placed on the handling equipment or the target storage location, and whether there are any abnormalities such as tilting or offset.

[0085] Taking a laser sensor as an example, the vehicle detection information can include the three-dimensional coordinate data of each point on the surface of the target vehicle. Based on this vehicle detection information, the control device can calculate the positional and angular deviations of the target vehicle relative to the handling equipment or the target storage location. By comparing the pose difference between the ideal position and the actual position when the target vehicle is correctly placed, the placement status of the target vehicle can be determined.

[0086] In some embodiments, vehicle detection information may include image detection information captured by a vision sensor in a detection sensor group. The control device can determine the placement state of the target vehicle by identifying and analyzing the feature points of the target vehicle in the image detection information and the positional relationship between the feature points.

[0087] In some embodiments, vehicle detection information may include reflected signals from the target vehicle received by each detection sensor in the detection sensor group. Based on this, Figure 8 A sub-flowchart of a vehicle handling method provided in this embodiment is shown, such as... Figure 8 As shown, the following steps may be included:

[0088] Step 810: If all detection sensors receive the reflected signal from the target vehicle, determine that the target vehicle is placed correctly.

[0089] For example, in such Figure 5 In the placement scenario shown, when both detection sensor 1 and detection sensor 2 can receive the reflected signal from the target vehicle 400, it indicates that the support component 412 is located directly above detection sensor 1 and detection sensor 2, meaning that the target vehicle 400 is correctly placed.

[0090] When either detection sensor 1 or detection sensor 2 fails to receive the reflected signal from the target vehicle 400, it means that the support component 412 is not positioned directly above the two detection sensors due to misalignment or other reasons, therefore the target vehicle 400 is not positioned correctly.

[0091] Step 820: If the total signal loss rate of the reflected signals from the target vehicle continuously received by all detection sensors in the detection sensor group is greater than the first threshold, it is determined that the target vehicle does not exist.

[0092] The first threshold can be set according to the type of detection sensor, the shape of the target vehicle, etc.

[0093] For example, based on the vehicle detection information, the control device can determine the number of times and the reception results of all detection sensors in the detection sensor group continuously receive the reflected signal of the target vehicle. If the total signal loss rate of the reflected signal of the target vehicle received multiple times is greater than a first threshold, it can be determined that the target vehicle does not exist, that is, the target vehicle is not placed in the target storage location or on the handling equipment.

[0094] Step 830: If the total signal loss rate of the reflected signals from the target vehicle continuously received by all detection sensors in the detection sensor group is greater than the second threshold, it is determined that the target vehicle is placed crookedly.

[0095] The first threshold is greater than the second threshold. Correspondingly, the second threshold can also be set according to the type of detection sensor, the shape of the target vehicle, etc.

[0096] For example, if the control device determines, based on the vehicle detection information, that the total signal loss rate of the reflected signals from the target vehicle received by all detection sensors in the detection sensor group multiple times is greater than a second threshold, it can be determined that the target vehicle is placed skewed.

[0097] Using the above method, the placement status of the target vehicle can be determined based on the reflected signals received by each sensor in the sensor group.

[0098] Depending on the type of detection sensor, vehicle detection information can include different detection contents. In some embodiments, vehicle detection information can include vehicle pose parameters of the target vehicle collected by each detection sensor in the detection sensor group. The detection sensors can be laser sensors, vision sensors, etc.

[0099] Vehicle pose parameters can include the position and attitude parameters of the target vehicle, such as the coordinate position of the target vehicle in a three-dimensional coordinate system and the coordinate values ​​in each coordinate direction.

[0100] Therefore, for reference Figure 9 As shown, the control device can perform the following methods:

[0101] Step 910: Based on the vehicle pose parameters of the target vehicle collected by each detection sensor, determine whether the pose state of the target vehicle meets the preset pose conditions.

[0102] For example, the vehicle pose parameters of the target vehicle collected by each detection sensor can be compared with the pose parameters of the target vehicle when it is correctly placed to determine whether the pose state of the target vehicle meets the preset pose conditions.

[0103] In some embodiments, the preset pose condition may include a preset offset threshold for the target vehicle, which can be set according to the shape, load, volume, etc. of the target vehicle.

[0104] The control device can determine the position offset of the target vehicle based on the vehicle pose parameters collected by each detection sensor; if the position offset is less than a preset offset threshold, it determines that the pose state of the target vehicle meets the preset pose conditions; if the position offset is not less than the preset offset threshold, it determines that the pose state of the target vehicle does not meet the preset pose conditions.

[0105] Among them, position offset refers to the amount by which the target vehicle's position deviates from its correct placement position.

[0106] For example, when determining the position offset of a target vehicle, the control device can determine the coordinate offset of the target vehicle in each coordinate direction based on the vehicle pose parameters collected by each detection sensor, and then determine the position offset of the target vehicle according to the spatial coordinate relationship.

[0107] Step 920: If the vehicle's position and orientation meet the preset position and orientation conditions, confirm that the vehicle is placed correctly.

[0108] Step 930: If the vehicle's position does not meet the preset position conditions, determine that the vehicle is placed skewed.

[0109] Using the above method, the placement state of the target vehicle can be determined based on the vehicle pose parameters collected by each detection sensor.

[0110] Step 330: Based on the placement status and the vehicle type of the target vehicle, control the handling equipment to move the target vehicle and / or output alarm information.

[0111] The vehicle type includes a first vehicle type or a second vehicle type. The first vehicle type indicates that the target vehicle is a vehicle being transported by the transport equipment, and the second vehicle type indicates that the target vehicle is a vehicle to be transported when the transport equipment arrives at the target storage location.

[0112] After determining the placement status of the target vehicle, and considering its type, the control device can determine whether the target vehicle can be safely moved. If it cannot be safely moved, an alarm message can be output. If it can be safely moved, the control device can move the target vehicle. Alternatively, if the target vehicle can be safely moved within a short time, the control device can continue moving the target vehicle while simultaneously outputting an alarm message to prompt the inspection and handling of the target vehicle's placement status.

[0113] Through steps 310 to 330 above, multiple sensors in the detection sensor group can be used to detect the placement of the vehicle, thereby improving the accuracy of vehicle placement detection. It can also control the handling equipment to move the target vehicle and output alarm information according to the placement status and type of the target vehicle, thereby improving the handling efficiency of the vehicle while ensuring the safe operation of the handling equipment.

[0114] In some embodiments, in step 330, reference Figure 10 As shown, the control device can perform the following methods:

[0115] Step 1010: If the target vehicle is of type 1 and the placement status indicates that the target vehicle is placed correctly, control the transport equipment to continue transporting the target vehicle until the target vehicle is transported to the destination location.

[0116] The destination location is the final destination that the target vehicle is to reach, which can be a workstation, outbound area, designated area, or other similar locations.

[0117] If the target vehicle is of type 1 and the placement status indicates that the target vehicle is placed correctly, it means that the target vehicle is the vehicle that the transport equipment is currently transporting, and there is no safety risk in continuing to transport the target vehicle. Therefore, the control device can control the transport equipment to continue to transport the target vehicle until the target vehicle is transported to the destination location.

[0118] Step 1020: When the target vehicle is of type 1 and the placement status indicates that the target vehicle is placed crookedly, control the handling equipment to move the target vehicle to the vehicle correction area to correct the placement position of the target vehicle.

[0119] The vehicle calibration area is an area used to calibrate the placement of the vehicle on the handling equipment, and it can be one or more areas.

[0120] In some embodiments, the handling equipment can operate in an automated warehouse with multiple storage layers, and the vehicle calibration area can be located on any one or more of the multiple storage layers. For example, vehicle calibration areas can be set on the first, middle, and top layers of the automated warehouse to facilitate the handling equipment in moving the vehicle to the nearest vehicle calibration area for resetting during the handling process.

[0121] If the target vehicle is of type 1 and the placement status indicates that the target vehicle is placed crookedly, continuing to move the target vehicle to the destination location may cause the transport equipment to become stuck or tip over in the passage area. Therefore, the control device can control the transport equipment to move the target vehicle to the nearest vehicle correction area to correct the placement position of the target vehicle.

[0122] Using the above method, when the target vehicle is of type 1, the handling equipment can be controlled to move the target vehicle to different positions according to its placement status. This enables self-inspection and restoration of the target vehicle's placement status, improving the safety of vehicle handling and the overall operational efficiency of the handling equipment.

[0123] In some embodiments, the vehicle calibration area is provided with at least one pushing component, which may be a structure such as a push rod. After the transport equipment transports the target vehicle to the vehicle calibration area, at least one pushing component is controlled to push the target vehicle along a preset pushing direction to correct the position of the target vehicle.

[0124] After the transport equipment moves the target vehicle to the vehicle calibration area, each pushing component in the vehicle calibration area can push the edge of the target vehicle along the corresponding preset pushing direction with a fixed amplitude, so that the target vehicle returns to the correct position on the transport equipment.

[0125] In some embodiments, after the placement position of the target vehicle is corrected, the control device can control the transport equipment to continue transporting the target vehicle to the destination position so that the vehicle transport process can continue.

[0126] In some embodiments, reference Figure 11 As shown, the control device may also perform the following steps 1110 and / or 1120:

[0127] Step 1110: When the target vehicle is of type 1 and the placement status indicates that the target vehicle is placed crookedly, determine the number of times the target vehicle is detected to be placed crookedly within a preset time period. If the number of times is greater than a preset threshold, execute the step 1020 of controlling the handling equipment to move the target vehicle to the vehicle correction area to correct the placement position of the target vehicle.

[0128] The preset time period can be the time between when the transport equipment acquires the target vehicle and the current time, or it can be the most recent time during which the transport equipment transports the target vehicle. The preset threshold can be set according to the type of detection sensors in the detection sensor group, etc.

[0129] In this step, when the target vehicle is of type 1 and the placement status indicates that the target vehicle is misplaced, the number of times the misplaced target vehicle is detected within a preset time period can be further determined. Only when the number of times exceeds a preset threshold is the transport equipment controlled to move the target vehicle to the vehicle correction area for correction. This can improve the reliability of the detection results, avoid the risk of erroneous scheduling where the detection sensor group triggers vehicle correction with a single detection, and the preset threshold can be flexibly set according to actual operational needs, thus balancing the reliability of scheduling and the safety of the vehicle.

[0130] Step 1120: When the target vehicle is of type 1 and the tilt angle of the target vehicle is greater than a preset angle threshold, execute the step in step 1020 of controlling the handling equipment to move the target vehicle to the vehicle correction area to correct the placement position of the target vehicle.

[0131] The preset angle threshold can be set according to the target vehicle's load, size, shape, etc. For example, when the target vehicle has a large load, the preset angle threshold can be set to a smaller angle value, and when the target vehicle has a small load, the preset angle threshold can be set to a larger angle value.

[0132] In this step, considering the actual situation where the center of gravity of a vehicle may deviate to varying degrees due to different stored goods, the control device will only control the handling equipment to move the target vehicle to the vehicle correction area for correction if the target vehicle type is the first type and the tilt angle of the target vehicle indicated by the placement status is greater than a preset angle threshold. If the tilt angle of the target vehicle is not greater than the preset angle threshold, the handling equipment can continue to move the target vehicle to the destination position. This method can avoid triggering vehicle placement correction due to slight tilting, thus balancing the handling safety of the vehicle and the handling efficiency of the handling equipment.

[0133] To facilitate operators' understanding of the vehicle's placement status, in some embodiments, when the target vehicle's vehicle type is a first vehicle type and the placement status indicates that the target vehicle is placed crookedly, the control device can output a first alarm message, which is used to remind the operator that the target vehicle is placed crookedly on the handling equipment.

[0134] The first alarm information can be output in the form of alarm SMS, alarm broadcast, alarm pop-up, etc. This embodiment does not make specific limitations on this.

[0135] In some embodiments, when the target vehicle is of the first vehicle type and the placement status indicates that the target vehicle is placed crookedly, while the target vehicle is moved to the vehicle correction area in step 1020 to correct the placement position of the target vehicle, a first alarm message may also be output to indicate that the target vehicle is placed crookedly on the handling equipment and that the handling equipment has been scheduled to move the target vehicle to the vehicle correction area for correction.

[0136] In some embodiments, in step 330, reference Figure 12 As shown, the control device can also perform the following methods:

[0137] Step 1210: When the target vehicle's vehicle type is the second type and the placement status indicates that the target vehicle is placed correctly, control the handling equipment to acquire the target vehicle and carry it out.

[0138] If the target vehicle is of type two and the placement status indicates that the target vehicle is placed correctly, it means that the target vehicle is the vehicle to be moved when the transport equipment arrives at the target storage location. The transport equipment can use its own picking mechanism to obtain the transport equipment, so the control device can control the transport equipment to obtain the target vehicle and carry it out.

[0139] Step 1220: If the target vehicle is of type 2 and the placement status indicates that the target vehicle is abnormally placed, control the handling equipment to adjust the equipment posture based on the placement status, so as to acquire the target vehicle after the adjustment is completed and carry it out.

[0140] Here, "target vehicle placement anomaly" refers to a situation where the handling equipment cannot properly obtain the placement information of the target vehicle. In some embodiments, target vehicle placement anomaly may include the target vehicle being placed crookedly in the target storage location, or the target storage location not having a target vehicle placed there.

[0141] For example, the mechanism on the handling equipment for acquiring the carrier is a fork that can extend into the bottom of the carrier to lift it up. When the target carrier is of type two and the placement status indicates that the target carrier is abnormally placed, the control device can control the handling equipment to adjust its own position so that the fork can extend into the bottom of the target carrier, thereby lifting the target carrier upwards and carrying it out.

[0142] In some embodiments, when the transport equipment adjusts its own posture, the visual sensor in the sensor group can identify the position mark of a specific position of the target vehicle, so that the relative position of the transport equipment and the target vehicle meets the lifting conditions of the fork, thereby lifting the target vehicle upward and transporting it.

[0143] In some embodiments, when the target vehicle is of the second vehicle type and the placement status indicates that the target vehicle is placed abnormally, the control device may further output a second alarm message. The second alarm message is used to indicate that the target vehicle is placed abnormally in the target storage location. Abnormal target vehicle placement may include the target vehicle being placed crookedly in the target storage location, or the target storage location not having a target vehicle placed there.

[0144] If the target vehicle is of type two and the placement status indicates that the target vehicle is placed abnormally, the handling equipment cannot acquire the target vehicle. Therefore, the control device can output a second alarm message to prompt the operator to handle the abnormal situation of the target vehicle in the target storage location.

[0145] Using the above method, when the target vehicle is of type two, the handling equipment can be controlled to acquire the target vehicle or output a second alarm message based on the placement status of the target vehicle. This enables self-checking and alarming of the placement status of the target vehicle, improving the success rate and safety of the handling equipment in acquiring the vehicle.

[0146] In summary, the carrier handling method based on the handling equipment provided in this embodiment can detect the placement status of the carrier by deploying a group of detection sensors on the handling equipment. It can also control the handling equipment to move the carrier and output alarm information according to the placement status and carrier type. In addition, when the carrier is placed crookedly, the pushing component of the carrier correction area can be used to correct the position of the carrier. That is, it can realize the self-inspection and correction of the carrier placement status without human intervention, which can improve the safety and overall efficiency of carrier handling and improve the level of warehouse automation.

[0147] Figure 13 The diagram shows a structural schematic of an electronic device provided by an embodiment of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the electronic device.

[0148] like Figure 13 As shown, the electronic device can be the control device in the above embodiments. Specifically, the electronic device may include: a processor 1302, a communications interface 1304, a memory 1306, and a communications bus 13013.

[0149] The processor 1302, communication interface 1304, and memory 1306 communicate with each other via communication bus 13013. Communication interface 1304 is used to communicate with other network elements such as clients or other servers. The processor 1302 executes program 1310, specifically performing the relevant steps described in the embodiment of the carrier handling method based on transport equipment.

[0150] Specifically, program 1310 may include program code, which includes computer-executable instructions.

[0151] Processor 1302 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The electronic device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0152] Memory 1306 is used to store program 1310. Memory 1306 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0153] Specifically, program 1310 can be called by processor 1302 to cause the electronic device to execute the steps in the above-described carrier handling method based on the transport equipment.

[0154] This invention also provides a computer-readable storage medium storing at least one executable instruction that, when executed on an electronic device / carrier handling system based on a transport equipment, causes the electronic device / carrier handling system based on a transport equipment to perform the carrier handling method based on a transport equipment in any of the above method embodiments.

[0155] Specifically, the executable instructions can be used to cause the electronic device / carrier handling system based on the transport equipment to perform the steps in the above-described carrier handling method based on the transport equipment.

[0156] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0157] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0158] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0159] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A vehicle handling method based on a handling device, characterized in that, The method includes: The vehicle detection information of the target vehicle is acquired by a detection sensor group on the transport equipment, the detection sensor group including multiple detection sensors arranged along the edge and / or middle of the transport equipment body; Based on the vehicle detection information, the placement status of the target vehicle is determined; Based on the placement status and the vehicle type of the target vehicle, control the handling equipment to move the target vehicle, and / or output alarm information; The vehicle type includes a first vehicle type or a second vehicle type. The first vehicle type indicates that the target vehicle is the vehicle that the transport equipment is currently transporting, and the second vehicle type indicates that the target vehicle is the vehicle that the transport equipment will transport when it arrives at the target storage location.

2. The method according to claim 1, characterized in that, The control of the handling equipment to move the target vehicle based on the placement state and the vehicle type of the target vehicle, and / or outputting alarm information, includes: When the target vehicle is of the first type and the placement status indicates that the target vehicle is placed correctly, the handling equipment is controlled to continue to handle the target vehicle until the target vehicle is moved to the destination location. When the target vehicle is of the first type and the placement status indicates that the target vehicle is placed crookedly, the handling equipment is controlled to move the target vehicle to the vehicle correction area to correct the placement position of the target vehicle.

3. The method according to claim 1, characterized in that, The control of the handling equipment to move the target vehicle based on the placement state and the vehicle type of the target vehicle, and / or outputting alarm information, includes: If the target vehicle is of the first type and the placement status indicates that the target vehicle is placed crookedly, a first alarm message is output. The first alarm message is used to prompt that the target vehicle is placed crookedly on the handling equipment.

4. The method according to claim 1, characterized in that, The control of the handling equipment to move the target vehicle based on the placement state and the vehicle type of the target vehicle, and / or outputting alarm information, includes: When the target vehicle is of the second type and the placement status indicates that the target vehicle is placed correctly, the handling equipment is controlled to acquire the target vehicle and carry it out. If the target vehicle is of the second type and the placement status indicates that the target vehicle is placed abnormally, the handling equipment is controlled to adjust its position based on the placement status, so as to acquire the target vehicle after the adjustment is completed and to handle it. The abnormal placement of the target vehicle includes the target vehicle being placed crookedly in the target storage location, or the target storage location not having the target vehicle placed there.

5. The method according to claim 1, characterized in that, The control of the handling equipment to move the target vehicle based on the placement state and the vehicle type of the target vehicle, and / or outputting alarm information, includes: If the target vehicle's vehicle type is the second vehicle type and the placement status indicates that the target vehicle is placed abnormally, a second alarm message is output. The second alarm message is used to prompt that the target vehicle is placed abnormally in the target storage location. The abnormal placement of the target vehicle includes the target vehicle being placed crookedly in the target storage location, or the target storage location not having the target vehicle placed there.

6. The method according to claim 2, characterized in that, The method further includes: If the target vehicle is of the first vehicle type and the placement status indicates that the target vehicle is placed skewed, determine the number of times the target vehicle is detected to be placed skewed within a preset time period. If the number of times is greater than a preset threshold, execute the step of controlling the handling equipment to move the target vehicle to the vehicle correction area to correct the placement position of the target vehicle; and / or, When the target vehicle is of the first type and the placement status indicates that the tilt angle of the target vehicle is greater than a preset angle threshold, the step of controlling the handling device to move the target vehicle to the vehicle correction area is executed to correct the placement position of the target vehicle.

7. The method according to claim 2, characterized in that, The vehicle calibration area is provided with at least one pushing component, and the method further includes: After the transport device transports the target vehicle to the vehicle correction area, it controls at least one pushing component to push the target vehicle along a preset pushing direction to correct the position of the target vehicle.

8. The method according to claim 2, characterized in that, The handling equipment operates in an automated warehouse, which has multiple storage layers, and the vehicle calibration area is located in any one or more of the multiple storage layers.

9. The method according to any one of claims 1-8, characterized in that, The target vehicle is rectangular and has multiple support structures arranged parallel to each other along the width direction of the target vehicle. When the target vehicle is correctly placed on the handling equipment, the plurality of detection sensors are located at the edges of any one or more support structures along the length direction of the target vehicle, and the distance between two detection sensors located on both sides of the same support structure along the length direction of the target vehicle is less than the width of the same support structure.

10. The method according to claim 9, characterized in that, The detection sensor includes a linear photoelectric sensor, and the vehicle detection information includes detection information collected by multiple linear photoelectric sensors; The detection information is obtained by the linear photoelectric sensor emitting a detection signal in a preset direction and receiving the reflected signal from the edge of the target vehicle. The preset direction is parallel to the vertically upward longitudinal axis of the target vehicle.

11. The method according to claim 10, characterized in that, The vehicle detection information includes the reflected signals of the target vehicle received by each detection sensor in the detection sensor group. Determining the placement state of the target vehicle based on the vehicle detection information includes: If all of the aforementioned detection sensors receive the reflected signal from the target vehicle, it is determined that the target vehicle is placed correctly; If the total signal loss rate of the reflected signals from the target vehicle continuously received by all detection sensors in the detection sensor group is greater than a first threshold, it is determined that the target vehicle does not exist. If the total signal loss rate of the reflected signals from the target vehicle continuously received by all detection sensors in the detection sensor group is greater than a second threshold, it is determined that the target vehicle is placed skewed. Wherein, the first threshold is greater than the second threshold.

12. The method according to any one of claims 1-8, characterized in that, The vehicle detection information includes the vehicle pose parameters of the target vehicle collected by each detection sensor in the detection sensor group. Determining the placement state of the target vehicle based on the vehicle detection information includes: Based on the vehicle pose parameters of the target vehicle collected by each of the detection sensors, it is determined whether the pose state of the target vehicle meets the preset pose conditions. If the positional state of the target vehicle satisfies the preset positional conditions, it is determined that the target vehicle is correctly placed. If the position of the target vehicle does not meet the preset position conditions, it is determined that the target vehicle is placed skewed.

13. The method according to claim 12, characterized in that, The preset pose condition includes a preset offset threshold for the target vehicle. Determining whether the pose state of the target vehicle meets the preset pose condition based on the vehicle pose parameters collected by each of the detection sensors includes: Based on the vehicle pose parameters of the target vehicle collected by each of the detection sensors, the position offset of the target vehicle is determined; If the position offset is less than the preset offset threshold, the pose state of the target vehicle is determined to satisfy the preset pose condition. If the position offset is not less than the preset offset threshold, it is determined that the pose state of the target vehicle does not meet the preset pose condition.

14. A vehicle handling system based on a handling equipment, characterized in that, include: At least one vehicle for storing goods; At least one handling device, said handling device comprising a vehicle body and a group of detection sensors; The vehicle body is configured as a carrier; The detection sensor group includes a plurality of detection sensors disposed along the edge and / or middle of the vehicle body, and the detection sensor group is configured to collect vehicle detection information of the target vehicle, wherein the at least one vehicle includes the target vehicle; The control device is configured as follows: Obtain the vehicle detection information; Based on the vehicle detection information, the placement status of the target vehicle is determined; Based on the placement status and the vehicle type of the target vehicle, control the handling equipment to move the target vehicle, and / or output alarm information; The vehicle type includes a first vehicle type or a second vehicle type. The first vehicle type indicates that the target vehicle is the vehicle that the transport equipment is currently transporting, and the second vehicle type indicates that the target vehicle is the vehicle that the transport equipment will transport when it arrives at the target storage location.

15. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to perform the operation of the vehicle handling method based on the transport equipment as described in any one of claims 1-13 by executing the executable instructions.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the vehicle handling method based on the transport equipment as described in any one of claims 1-13.

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