Cigarette finished product loading method, device and electronic equipment

Abstract

The application discloses a cigarette finished product loading method and device and electronic equipment. The method is applied to a target guide vehicle. When a to-be-processed scheduling task is received, the target pallet is processed according to pallet position information, and pallet pose information is determined. According to the pallet pose information and the current vehicle body pose, the forking pose and the forking track are determined, and the target pallet is transported based on the forking pose, the forking track and the truck position information. When the first distance between the target truck and the target truck is detected to be less than a preset distance threshold, the regional point cloud data is processed, and a passing evaluation result is obtained. When the passing evaluation result meets a preset passing condition, the target pallet is transported into the carriage of the target truck, the target storage location position information is determined according to the carriage point cloud data and at least one preset storage location position information, and the target pallet is transported to the target storage location according to the target storage location position information. The automatic loading and transporting based on the guide vehicle are realized, and the efficiency and accuracy of the loading operation are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle dispatching technology, and in particular to a method, apparatus and electronic equipment for loading finished cigarette products onto vehicles. Background Technology

[0002] In cigarette production and transportation scenarios, it is usually necessary to carry out outbound operations for finished cigarettes, that is, to transport finished cigarettes from the storage area to the truck compartment.

[0003] Currently, the loading of finished cigarettes is mainly done manually. This involves using forklifts driven by humans to move the finished cigarettes from the storage area to the trucks, and then manually carrying them into the truck beds. However, this method suffers from high labor costs, relatively low operational efficiency, and the risk of oversights during the handling of finished cigarettes. Summary of the Invention

[0004] This invention provides a method, apparatus, and electronic equipment for loading finished cigarettes onto vehicles, which realizes automated loading and transportation based on a guided vehicle, improving the efficiency, reliability, and accuracy of loading operations.

[0005] According to one aspect of the present invention, a method for loading finished cigarettes is provided, applied to a target guide vehicle, wherein the target guide vehicle and a temporary storage area for storing finished cigarettes satisfy a preset positional relationship, the method comprising: Upon receiving a pending scheduling task, the target pallet associated with the pallet location information in the pending scheduling task is subjected to attitude recognition processing in the temporary storage area to determine the pallet pose information of the target pallet; wherein, the target pallet contains finished cigarette products corresponding to the pending scheduling task, and the pending scheduling task includes at least the pallet location information of the target pallet to be transported and the truck location information of the target truck to be transported. Based on the pallet pose information and the current vehicle body pose of the target guide vehicle, the forklift attitude and forklift trajectory for the target pallet are determined, and the target pallet transportation is processed based on the forklift attitude, the forklift trajectory and the truck position information. When the first distance between the target truck and the target truck is detected to be less than a preset distance threshold, a passage assessment process is performed based on the regional point cloud data associated with the target truck to obtain a passage assessment result. When the passage assessment result meets the preset passage conditions, the target pallet is transported to the compartment of the target truck. Based on the point cloud data of the truck compartment and at least one preset storage location information, the target storage location information corresponding to the target pallet is determined. Based on the target storage location information, the target pallet is transported to the target storage location.

[0006] According to another aspect of the present invention, a cigarette finished product loading device is provided, applied to a target guiding vehicle, wherein the target guiding vehicle and a temporary storage area for storing cigarette finished products satisfy a preset positional relationship, the device comprising: The pallet pose determination module is used to determine the pallet pose information of a target pallet associated with the pallet position information in the temporary storage area based on the pallet position information in the task to be processed when a task to be processed is received. The target pallet contains finished cigarettes corresponding to the task to be processed, and the task to be processed includes at least the pallet position information of the target pallet to be transported and the truck position information of the target truck to be transported. The transportation information determination module is used to determine the forklift posture and forklift trajectory of the target pallet based on the pallet posture information and the current vehicle posture of the target guide vehicle, and to process the transportation of the target pallet based on the forklift posture, the forklift trajectory and the truck position information. The traffic assessment result determination module is used to perform traffic assessment processing based on the regional point cloud data associated with the target truck when a first distance between the truck and the target truck is detected to be less than a preset distance threshold, and to obtain a traffic assessment result. The storage location determination module is used to transport the target pallet to the cargo compartment of the target truck when the passage assessment result meets the preset passage conditions, and to determine the target storage location information corresponding to the target pallet based on the point cloud data of the cargo compartment of the target truck and at least one preset storage location information. The pallet receiving module is used to transport the target pallet to the target storage location based on the target storage location information.

[0007] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the cigarette loading method according to any embodiment of the present invention.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the cigarette loading method according to any embodiment of the present invention.

[0009] According to another aspect of the present invention, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the cigarette loading method as described in any embodiment of the present invention.

[0010] The technical solution of this invention is applied to a target guidance vehicle. Upon receiving a scheduling task, it performs attitude recognition processing on the target pallet associated with the pallet location information in the temporary storage area based on the pallet location information in the task, determining the pallet pose information. Based on the pallet pose information and the current vehicle body pose of the target guidance vehicle, it determines the forklift attitude and forklift trajectory for the target pallet, and performs transport processing on the target pallet based on the forklift attitude, forklift trajectory, and truck position information. When a first distance between the target pallet and the target truck is detected to be less than a preset distance threshold, it performs a passage assessment process based on the regional point cloud data associated with the target truck, obtaining a passage assessment result. When the passage assessment result meets preset passage conditions, the target pallet is transported into the truck bed of the target truck. Based on the truck bed point cloud data and at least one preset storage location location information, it determines the target storage location information corresponding to the target pallet, so that the target pallet is transported to the target storage location corresponding to the target storage location information. This invention solves the problems of low efficiency, high cost, and oversight in the handling of finished cigarettes caused by manual loading of finished cigarettes in the prior art. It realizes unmanned automatic loading and transportation based on a guide vehicle, which improves the efficiency and accuracy of loading operations and ensures the reliability and safety of loading operations.

[0011] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a flowchart of a method for loading finished cigarette products onto a vehicle, provided by an embodiment of the present invention; Figure 2 This is an example diagram of a scene where finished cigarettes are loaded onto a truck, as provided in an embodiment of the present invention. Figure 3 This is a flowchart of a method for loading finished cigarette products onto a vehicle, provided by an embodiment of the present invention; Figure 4This is an example diagram of the x-axis and y-axis of the first coordinate system provided in an embodiment of the present invention; Figure 5 This is an example diagram of the first storage location provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a cigarette loading device provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device for implementing the cigarette loading method of this invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0015] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0016] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0017] Before introducing the embodiments of the present invention, the application scenario of the present invention can be described first. The present invention is applied to a scenario in which a target guide vehicle automatically transports a pallet containing finished cigarettes to a target truck. The area where the target guide vehicle is parked and the temporary storage area for the finished cigarettes satisfy a preset positional relationship. Optionally, the preset positional relationship can be that the distance between the target guide vehicle and the temporary storage area is less than a preset interval distance. For example, if the target guide vehicle is located near the temporary storage area, upon receiving a scheduling task to be processed, the target guide vehicle can perform attitude recognition on the target pallet in the temporary storage area from its own location.

[0018] Example 1 Figure 1 This is a flowchart of a method for loading finished cigarettes onto a truck according to Embodiment 1 of the present invention. This embodiment is applicable to situations where a pallet containing finished cigarettes is automatically transported to a target truck based on a target guide vehicle. This method can be executed by a finished cigarette loading device, which can be implemented in hardware and / or software. This finished cigarette loading device can be configured in electronic devices such as mobile phones, computers, or servers. Figure 1 As shown, the method includes: S110. Upon receiving a pending scheduling task, based on the pallet location information in the pending scheduling task, perform attitude recognition processing on the target pallet associated with the pallet location information in the temporary storage area to determine the pallet pose information of the target pallet; wherein, the target pallet contains finished cigarettes corresponding to the pending scheduling task, and the pending scheduling task includes at least the pallet location information of the target pallet to be transported and the truck location information of the target truck to be transported.

[0019] In this context, the pending scheduling task can be a task issued by the target scheduling system to the target guide vehicle, instructing the target guide vehicle to transport target pallets containing finished cigarettes. The pallet location information in the pending scheduling task can be the current location of the target pallet containing finished cigarettes that needs to be transported. The truck location information in the pending scheduling task can be the current location of the target truck to which the target pallet containing finished cigarettes needs to be transported. Correspondingly, the target pallet can be the pallet currently to be transported in the pending scheduling task. The target truck can be the truck currently to be loaded with finished cigarettes.

[0020] The temporary storage area can be an area used to temporarily store target pallets containing finished cigarette products. Pallet pose information includes pallet orientation information and pallet position information. Pallet orientation information can be understood as the angle of the target pallet relative to the target guide vehicle. For example, pallet orientation information can be represented as... ;in, This indicates the pallet location information of the target pallet. This indicates the pallet's posture information. Optionally, the target guidance vehicle can invoke a stereo vision intelligent pallet posture perception algorithm to recognize the posture of the target pallet.

[0021] Specifically, upon receiving a scheduled task, the system determines the target pallet corresponding to the pallet location information in the temporary storage area based on the pallet location information in the task, and performs attitude recognition processing on the target pallet to obtain its attitude information. Based on the pallet attitude information and the pallet location information, the system determines the pallet pose information.

[0022] Optionally, the pending scheduling task can be determined in the following way: when the target business system determines that the parking status of the target truck meets the preset parking conditions, the truck location information of the target truck is sent to the target scheduling system; when the target business system determines that the temporary storage area includes a pallet to be loaded, the pallet to be loaded is taken as the target pallet, and the pallet location information of the target pallet is sent to the target scheduling system, so that the target scheduling system generates a pending scheduling task based on the truck location information and the pallet location information of the target pallet, and sends the pending scheduling task to the target guide vehicle.

[0023] The target business system can be the parent system of the target scheduling system. It is used to send truck and pallet information for the target trucks to the target scheduling system. The truck information includes at least the truck's location. It should be noted that the truck information may also include: the truck's cargo box specifications, the location of the cargo box door openings, initial information about the passable area, and the cargo box's ground clearance. The pallet information includes at least the pallet's location, the material code of the finished cigarettes loaded on the pallet, and batch information.

[0024] The parking status can include the parking status of the target truck and the erection status of the loading ramp (platform) associated with the target truck. Once it is detected that the target truck has parked and the loading ramp is erected, the parking status is determined to meet the preset parking conditions. It should be noted that the target guide vehicle enters the cargo compartment of the target truck via the loading ramp (platform).

[0025] The target scheduling system can receive truck location information and pallet location information from the target business system. It is used to generate pending scheduling tasks and determine the target guide vehicle to execute those tasks. The pallet to be loaded, or target pallet, can be understood as a pallet containing finished cigarettes to be transported to the target truck.

[0026] Specifically, when the target business system determines that the parking status of the target truck meets the preset parking conditions, it determines the truck's location information and other information associated with the target truck, and sends this information to the target dispatch system. Correspondingly, when the target business system detects a pallet to be loaded in the temporary storage area, it treats the pallet as the target pallet, determines its location information and other information associated with it, and sends this information to the target dispatch system. The target dispatch system then generates a pending dispatch task based on the pallet location information, truck location information, and other information. This pending dispatch task is then sent to the target guide vehicle.

[0027] Exemplarily, the target pallet can be a "Sichuan" character pallet with dimensions of 1250×1000×150 mm. The height of the finished cigarettes in the pallet does not exceed 2000 mm, and the maximum weight of the finished cigarettes that the pallet can carry is 500 kg. The length of the carriage of the target truck can be 14 meters, the inner width is 2.35 meters, and the height is 2.5 meters; the height of the carriage from the ground is 1300 mm ≤ H2 ≤ 1450 mm; to ensure the flatness of loading and driving, a 5-mm-thick flat steel plate is laid in the carriage, and the flatness is not greater than 3%. The rated load of the target guiding vehicle can be 1000 kg; the material can be polyurethane wheels; the driving speed is about 5 km / h.

[0028] It should be noted that the above information can be sent from the target business system to the target scheduling system, so that the target scheduling system can send the pending scheduling task carrying the above information to the target guiding vehicle, or it can be the information pre-set in the controller of the target guiding vehicle.

[0029] Taking the target business system as the upper-level business system, the target scheduling system as the AGV scheduling system, the target guiding vehicle as the forklift automated guided vehicle (Automated Guided Vehicle, AGV), and the pending scheduling task as the pick-up pallet instruction PICK_TASK as an example for illustration. After the upper-level business system detects that the target truck has stopped and the boarding bridge has been erected, it sends the truck information TRUCK_INFO to the AGV scheduling system. Among them, the truck information at least includes the truck position information, the carriage specification information of the target truck, the position information of the carriage door opening, the initial information of the passable area, the carriage ground clearance information, etc.

[0030] Correspondingly, when the target business system detects that there is a pending loading pallet in the temporary storage area, it sends the pallet information PALLET_INFO to the AGV scheduling system. Among them, the pallet information at least includes: the pallet position information, the material code and batch information of the finished cigarettes loaded in the pallet. It should be noted that the target business system can also be used to detect whether there is an outbound device in the temporary storage area for transporting the finished cigarettes from the production area to the temporary storage area.

[0031] When the AGV scheduling system receives the pallet position information and other information of the target pallet, as well as the truck position information and other information, it generates a pending scheduling task based on the above information and sends the pick-up pallet instruction PICK_TASK to the forklift AGV.

[0032] When the forklift AGV receives the pick-up pallet instruction PICK_TASK, it calls the stereo vision intelligent pallet attitude perception algorithm, combines the pallet position information of the target pallet, and estimates the pose of the target pallet to obtain the pallet attitude information .

[0033] It should also be noted that the target guided vehicle (forklift AGV) may include: on-board controller, drive / steering actuator, lifting mechanism, fork side-shifting mechanism and fork tilt adjustment mechanism; on-board navigation laser sensor, stereo vision sensor, fork tip vision camera, status detection sensor (position / speed / attitude, etc.); and wireless communication module.

[0034] S120. Based on the pallet position information and the current vehicle position of the target guide vehicle, determine the fork entry posture and fork entry trajectory of the target pallet, and process the transport of the target pallet based on the fork entry posture, fork entry trajectory and truck position information.

[0035] Here, the current vehicle posture can be understood as the current attitude and position information of the target guide vehicle. The forklift posture can be understood as the posture of the target guide vehicle picking up the target pallet. The forklift trajectory can be the transportation trajectory of the target guide vehicle picking up the target pallet.

[0036] Specifically, based on the pallet's position information and the current vehicle position of the target guide vehicle, a forklift trajectory for the target pallet is generated, and the current vehicle position of the target guide vehicle is adjusted (including vehicle angle adjustment, fork lateral movement of the target guide vehicle, and tilt angle compensation, etc.) to obtain the forklift posture. The target pallet is then lifted based on the forklift posture and trajectory, and the target pallet is transported according to the truck's position information.

[0037] For example, in conjunction with the above examples, see Figure 2 , Figure 2 This is an example image showing the loading of finished cigarette products onto a truck. Figure 2 The charging / standby position for the forklift AGV corresponds to the current vehicle position of the target guide vehicle mentioned above. The outbound loading temporary storage position corresponds to the temporary storage area mentioned above, and the ramp corresponds to the loading bridge mentioned above.

[0038] Based on tray position information Based on the current vehicle posture of the forklift AGV, generate the fork entry trajectory and fine-tune the current vehicle posture of the forklift AGV to complete the operations of fork entry, lifting, and leaving the temporary storage area.

[0039] It should also be noted that when the forklift AGV leaves the temporary storage area, the AGV scheduling system can send back the forklift completion information PICKUP_DONE to the upper-level business system, so that the upper-level business system can control the outbound equipment that transports the finished cigarettes from the production area to the temporary storage area to perform the outbound or replenishment operation of the finished cigarettes.

[0040] Optionally, the scheduling task to be processed also includes verification location information of a verification area, located between the temporary storage area and the target truck. In other words, during the process of the target guide vehicle transporting the target pallet from the temporary storage area to the cargo compartment of the target truck, a verification area is set up to verify whether the finished cigarettes in the target pallet match the current scheduling task. The verification location information is used to characterize the location of the verification area; for example, see [link to relevant documentation]. Figure 2 The verification area can be set Figure 2 The location corresponding to the working path of the forklift AGV.

[0041] The target pallet transportation process is based on forklift entry posture, forklift entry trajectory, and truck position information. This includes: when transporting the target pallet to the verification area according to the forklift entry posture, forklift entry trajectory, and verification location information, aligning the cigarette finished product identification information of the target pallet with the verification equipment in the verification area, so as to verify the cigarette finished product in the target pallet through the verification equipment; and when the verification result is received, the target pallet transportation process is based on the truck position information.

[0042] The identification information for finished cigarettes can be affixed to the finished cigarettes on the target pallet, used to identify information such as batch number and material code. Verification equipment can be used to verify the identification information of the finished cigarettes. Verification results can include pass and fail. Pass means the finished cigarettes in the target pallet match the scheduling task to be processed. Failure means the finished cigarettes in the target pallet do not match the scheduling task to be processed.

[0043] Specifically, to ensure the accuracy of finished cigarette transportation, the pending scheduling task can also carry verification location information determined by the target business system. This allows the target guide vehicle to transport the target pallet to the verification area based on the verification location information. In other words, the target guide vehicle picks up the target pallet according to its forklift posture and trajectory, leaves the temporary storage area, and transports the target pallet to the verification area based on the verification location information. When the target guide vehicle is detected to have entered the verification area, its current vehicle position is adjusted so that the finished cigarette identification information on the target pallet is aligned with the verification equipment in the verification area, thereby enabling the verification of the finished cigarettes in the target pallet based on the verification equipment.

[0044] Correspondingly, the verification equipment can send the detected cigarette product identification information to the target business system, allowing the target guidance vehicle to receive the verification result from the target business system. Upon receiving a successful verification result, the target guidance vehicle continues to transport the target pallet based on the truck's location information. This ensures the consistency between the transported cigarette products and the pending scheduling tasks, reducing the risk of erroneous transportation.

[0045] For example, following the above example, when the forklift AGV carrying two trays of finished cigarettes arrives at the verification area, the forklift AGV rotates to align the cigarette identification information on the finished cigarettes with the verification equipment (RFID reader) in the verification area. This allows the RFID reader to sequentially collect the cigarette identification information from the finished cigarettes and upload the collected RFID_DATA information to the upper-level business system. The upper-level business system then returns the verification result (whether it matches the currently pending scheduling task). It should be noted that the AGV scheduling system does not directly participate in the identification verification process.

[0046] S130. When the first distance between the target truck and the target truck is detected to be less than the preset distance threshold, a traffic assessment is performed based on the regional point cloud data associated with the target truck to obtain a traffic assessment result.

[0047] The first distance can be understood as the distance between the target guide vehicle and the rear of the target truck. The preset distance threshold can be a pre-set standard distance between the target guide vehicle and the rear of the target truck. The area point cloud data can be the point cloud data of the preset area to which the rear of the target truck belongs. For example, the preset area to which the truck rear belongs can be the area corresponding to the first distance from the rear of the target truck. In other words, when the distance between the target guide vehicle and the rear of the target truck is the first distance, the area between the target guide vehicle and the rear of the target truck is the preset area. The passage assessment result can be used to characterize whether the target guide vehicle can pass normally into the cargo compartment of the target truck.

[0048] Specifically, when the first distance between the target vehicle and the target truck is detected to be less than a preset distance threshold, the area point cloud data associated with the target truck is acquired. Traffic assessment processing is performed based on the area point cloud data to determine whether the target guide vehicle can normally pass into the target truck, thus obtaining the traffic assessment result.

[0049] For example, in conjunction with the above example, when the forklift AGV arrives at the rear area of ​​the target truck's cargo compartment (corresponding to the preset area to which the truck's rear belongs mentioned above), the onboard navigation laser device performs point cloud acquisition processing on the rear area of ​​the cargo compartment to obtain the rear area point cloud. (Corresponding to the regional point cloud data mentioned above). Identify and assess the accessibility of the tail region point cloud to determine the passage assessment results.

[0050] Optionally, the specific method for conducting traffic assessment based on regional point cloud data can be as follows: perform ground point cloud removal processing on the regional point cloud data to obtain first point cloud data; perform clustering processing on the first point cloud data to determine second point cloud data associated with the truck's cargo doorway; perform data fitting processing on the second point cloud data to determine the width of the truck's cargo doorway and the doorway recognition confidence level corresponding to the cargo doorway width; determine the lateral deviation value and heading deviation angle of the target truck relative to the first direction; and determine the traffic assessment result as normal traffic when the lateral deviation value is less than a preset deviation threshold, the heading deviation angle is less than a preset deviation angle, the cargo doorway width is greater than a preset width threshold, and the doorway recognition confidence level is greater than a preset confidence threshold.

[0051] The first point cloud data can be regional point cloud data after removing ground point cloud data. The second point cloud data can be two approximately perpendicular clusters of boundary point cloud data associated with the truck's doorway. The width of the truck's doorway can be understood as the passable width of the target truck's door. The doorway recognition confidence score is used to characterize the reliability of the truck's doorway width.

[0052] The first direction can be a pre-set reference direction corresponding to the parking position of the target truck. The lateral deviation value represents the lateral deviation distance between the parking direction of the target truck and the first direction. The heading deviation angle represents the degree of heading deviation between the parking direction of the target truck and the first direction. Both the lateral deviation value and the heading deviation angle are used to characterize the deviation between the current parking direction of the target truck and the reference direction.

[0053] The preset deviation threshold can be a pre-set standard value for lateral deviation. For example, the preset deviation threshold could be 200 mm. The preset deviation angle can be a pre-set standard angle for heading deviation. For example, the preset deviation angle could be 3 degrees. The preset width threshold can be a pre-set width of the doorway that allows the target guide vehicle to pass normally. For example, the preset width threshold could be the sum of the outer contour width of the target guide vehicle and the adjustment coefficient. The preset confidence threshold can be a pre-set standard value for doorway recognition confidence. For example, the preset confidence threshold could be 0.6.

[0054] Specifically, the regional point cloud data undergoes ground point cloud removal processing to obtain the first point cloud data. The first point cloud data is then clustered to obtain two approximately perpendicular clusters of boundary point cloud data associated with the carriage doorway, i.e., the second point cloud data. Linear fitting processing is then performed on the second point cloud data to determine the left and right door frame lines associated with the carriage doorway. Based on these lines, the width of the carriage doorway and the corresponding doorway recognition confidence level are obtained.

[0055] The lateral deviation and heading deviation angle of the target truck relative to the first direction are determined. If the lateral deviation is less than a preset deviation threshold, the heading deviation angle is less than a preset deviation angle, the width of the truck's doorway is greater than a preset width threshold, and the doorway recognition confidence level is greater than a preset confidence threshold, the passage assessment result is determined to be normal. Conversely, if the lateral deviation is less than a preset deviation threshold, the heading deviation angle is less than a preset deviation angle, the width of the truck's doorway is greater than a preset width threshold, or the doorway recognition confidence level is greater than a preset confidence threshold, the passage assessment result is determined to be impassable.

[0056] For example, in conjunction with the above example, when obtaining the point cloud of the tail region... Then, the point cloud in the tail region can be segmented to determine the ground plane G, and the point cloud data near the ground can be removed to obtain the remaining set of elevation point clouds. (Corresponding to the first point cloud data mentioned above). Clustering is performed on the remaining facade point cloud set to identify two clusters of boundary point cloud data adjacent to and approximately perpendicular to the rear end of the carriage (corresponding to the second point cloud data mentioned above). Linear fitting is then performed on these two clusters of boundary point cloud data to obtain the straight line of the left door frame. Straight line with the right door frame The width of the carriage doorway is obtained based on the straight lines of the left and right door frames. And the confidence score for doorway recognition corresponding to the width of the carriage doorway.

[0057] Determine the lateral deviation of the target truck's parking direction relative to the dock baseline direction (corresponding to the first direction mentioned above). and heading deviation angle When the lateral deviation value Less than the preset deviation threshold , heading deviation angle Less than the preset deviation angle width of carriage doorway Greater than the preset width threshold And the confidence score for doorway recognition is greater than the preset confidence threshold. At that time, the traffic assessment result was determined to be normal.

[0058] When the lateral deviation value Greater than the preset deviation threshold Or heading deviation angle greater than the preset deviation angle Or the width of the carriage doorway Less than the preset width threshold Or the confidence score for doorway recognition is less than the preset confidence threshold. If the passage assessment result is determined to be impassable, meaning the forklift AGV cannot enter the target truck, then a warning message can be generated based on the lateral deviation value, heading deviation angle, truck doorway width, and doorway recognition confidence level. This warning message (ALARM_CODE) is then reported by the forklift AGV to the AGV scheduling system, prompting the system to manually adjust the target truck's parking position or re-lay the loading ramp. Automated loading operations resume only after a successful re-test.

[0059] S140. When the traffic assessment results meet the preset traffic conditions, the target pallet is transported to the cargo compartment of the target truck. Based on the point cloud data of the cargo compartment of the target truck and at least one preset storage location information, the target storage location information corresponding to the target pallet is determined.

[0060] The preset passage conditions can be a passage assessment result indicating normal passage. The cargo compartment point cloud data can be the internal point cloud data of the target truck collected by the target guide vehicle. Optionally, the cargo compartment point cloud data can be used to determine the currently stored finished cigarettes or occupied storage locations within the target truck's cargo compartment. The preset storage location information can be the location of the storage location within the target truck's cargo compartment used to store finished cigarettes. The target storage location can be the storage location used to store finished cigarettes on the target pallet. The target storage location information can be the location of the target storage location within the target truck's cargo compartment.

[0061] Specifically, if the traffic assessment result is normal, the traffic assessment result is determined to meet the preset traffic conditions. The target pallet is then transported to the cargo compartment of the target truck. Based on the point cloud data of the cargo compartment of the target truck and at least one preset storage location information, the target storage location information corresponding to the target pallet is determined, so that the target pallet is transported to the target storage location corresponding to the target storage location information.

[0062] S150. Based on the target storage location information, transport the target pallet to the target storage location.

[0063] Specifically, based on the location information of the target warehouse, the target pallet is transported to the target warehouse and the finished cigarettes in the target pallet are placed in the target warehouse.

[0064] The technical solution of this embodiment is applied to a target guidance vehicle. Upon receiving a scheduling task, it performs attitude recognition processing on the target pallet associated with the pallet location information in the temporary storage area based on the pallet location information in the task, determining the pallet pose information. Based on the pallet pose information and the current vehicle body pose of the target guidance vehicle, it determines the forklift attitude and forklift trajectory for the target pallet, and processes the transport of the target pallet based on the forklift attitude, forklift trajectory, and truck position information. When a first distance between the target pallet and the target truck is detected to be less than a preset distance threshold, it performs a passage assessment based on the regional point cloud data associated with the target truck, obtaining a passage assessment result. When the passage assessment result meets preset passage conditions, the target pallet is transported into the truck bed of the target truck. Based on the truck bed point cloud data and at least one preset storage location location information, it determines the target storage location location information corresponding to the target pallet, and transports the target pallet to the target storage location corresponding to the target storage location location information. This invention solves the problems of low efficiency, high cost, and oversight in the handling of finished cigarettes caused by manual loading of finished cigarettes in the prior art. It realizes unmanned automatic loading and transportation based on a guide vehicle, which improves the efficiency and accuracy of loading operations and ensures the reliability and safety of loading operations.

[0065] Example 2 Figure 3 This is a flowchart of a method for loading finished cigarettes onto a vehicle according to Embodiment 2 of the present invention. This embodiment is a preferred embodiment of the above embodiments. For specific implementation details, please refer to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here. Figure 3 As shown, the method includes: S210. Upon receiving a pending scheduling task, based on the pallet location information in the pending scheduling task, perform attitude recognition processing on the target pallet associated with the pallet location information in the temporary storage area to determine the pallet pose information of the target pallet; wherein, the target pallet contains finished cigarettes corresponding to the pending scheduling task, and the pending scheduling task includes at least the pallet location information of the target pallet to be transported and the truck location information of the target truck to be transported.

[0066] S220. Based on the pallet pose information and the current vehicle body pose of the target guide vehicle, determine the fork entry posture and fork entry trajectory of the target pallet, and process the transport of the target pallet based on the fork entry posture, fork entry trajectory and truck position information.

[0067] S230. When the first distance between the target truck and the target truck is detected to be less than the preset distance threshold, a traffic assessment is performed based on the regional point cloud data associated with the target truck to obtain a traffic assessment result.

[0068] S240. When the traffic assessment result is normal, determine that the traffic assessment result meets the preset traffic conditions.

[0069] Specifically, when the traffic assessment result is "normal," the traffic assessment result is determined to meet the preset traffic conditions. Conversely, when the traffic assessment result is "impassable," an early warning message can be generated based on the relevant assessment information, and the warning action can be taken accordingly.

[0070] S250. Based on the projected rectangle information of the door opening of the target truck and the second direction corresponding to the target truck, determine the passage area to be processed.

[0071] The projected rectangle information can be the projected rectangle of the carriage doorway, determined by projecting the second point cloud data. The second direction can be the direction of the boarding bridge associated with the target truck, or it can be understood as the effective direction in which the target guide vehicle travels towards the target truck. The passage area to be processed can be the polygonal area of ​​the passage corridor formed by extending the projected rectangle information along the second direction.

[0072] Specifically, the second point cloud data is projected to determine the projected rectangle information corresponding to the carriage doorway. Using the projected rectangle information as the entry point, the projected rectangle information is expanded along the second direction to form a passageway polygon, thus obtaining the passage area to be processed.

[0073] S260. Based on the adjustment parameters, adjust the traffic area to be processed to obtain the target traffic area.

[0074] The adjustment parameters may include pre-set safety margin information, as well as trimming coefficients corresponding to the rear boundary information of the carriage (corresponding to the width of the carriage doorway) and the boundary information of the boarding bridge. For example, the safety margin information may be between 50mm and 150mm.

[0075] Specifically, the area to be processed is expanded based on pre-set safety margin information to obtain the area to be used. The rear boundary information of the truck bed is determined based on the width of the truck bed's doorway. A trimming factor is determined based on the rear boundary information of the truck bed and the boarding bridge boundary information. The area to be used is then trimmed according to the trimming factor to obtain the target area.

[0076] For example, in conjunction with the above example, the doorway projection rectangle (Corresponding to the projected rectangle information mentioned above) as the entry point, will Extending along the direction of the boarding bridge to form a polygonal passageway (Corresponding to the aforementioned unprocessed passage area). For The expansion is performed according to the preset safety margin information. Simultaneously, the expansion is based on the rear boundary information of the carriage and the boarding bridge boundary information. After trimming, the final passable area is obtained. That is, the target passage area.

[0077] S270. Based on the target traffic area, transport the target pallet to the cargo compartment of the target truck.

[0078] Specifically, the target pallet is transported according to the target passage area until it is delivered to the cargo compartment of the target truck.

[0079] S280. Based on the point cloud data of the target truck's cargo compartment and at least one preset storage location information, determine the target storage location information corresponding to the target pallet.

[0080] Optionally, when transporting the target pallet to the cargo compartment of the target truck, the method further includes: adjusting the current vehicle body pose of the target guide vehicle based on the first coordinate information of at least one first vehicle position point of the target truck in a first coordinate system and the second coordinate information in a second coordinate system to obtain an initial adjusted pose; wherein, the first coordinate system is a three-dimensional coordinate system established based on the ground projection point of the center of the cargo compartment door of the target truck, and the second coordinate system is a three-dimensional coordinate system established based on the vehicle center of the target guide vehicle; when driving into the cargo compartment of the target truck according to the initial adjusted pose, determining the third coordinate information of at least one second vehicle position point in the first coordinate system and the fourth coordinate information in the second coordinate system; adjusting the initial adjusted pose in real time based on the third coordinate information and the fourth coordinate information, so that when the adjusted vehicle body pose meets the preset pose conditions, the inbound vehicle body pose is determined, so that the target pallet is transported to the target warehouse location based on the inbound vehicle body pose and the target warehouse location information.

[0081] The first coordinate system can be a three-dimensional coordinate system with the ground projection point at the center of the target truck's cargo doorway as the origin, the direction pointing towards the inside of the target truck's cargo compartment as the positive x-axis, the direction pointing towards the left side of the target truck's cargo compartment as the positive y-axis, and the upward direction as the positive z-axis. The second coordinate system can be a three-dimensional coordinate system defined with the center of the target guide vehicle as the origin.

[0082] The first vehicle position point can be a selected position point within the target truck. For example, the first vehicle position point can be the door frame of the target truck. Correspondingly, the first coordinate information can be the coordinate data of the first vehicle position point in a first coordinate system. The second coordinate information can be the coordinate data of the first vehicle position point in a second coordinate system. The initial adjusted pose can be the vehicle pose obtained by adjusting the current vehicle pose at the current moment.

[0083] The second vehicle location can be a selected location within the cargo compartment of the target truck. The third coordinate information can be the coordinate data of the second vehicle location in the first coordinate system. The fourth coordinate information can be the coordinate data of the second vehicle location in the second coordinate system.

[0084] The preset pose conditions can be pre-set, and the vehicle pose of the target guide vehicle must meet these conditions. Optionally, using the centerline of the target truck's cargo compartment as a reference, if the lateral deviation value corresponding to the target guide vehicle's body pose is less than a first threshold and the heading deviation angle is less than a second threshold, then the adjusted body pose of the target guide vehicle is determined to meet the preset pose conditions. The adjusted body pose that meets the preset pose conditions is then used as the vehicle pose for entry into the warehouse.

[0085] Specifically, the first coordinate information corresponding to at least one first vehicle position point on the target truck in the first coordinate system and the second coordinate information corresponding to at least one first vehicle position point in the second coordinate system are determined. The current vehicle pose of the target guide vehicle is adjusted based on the first and second coordinate information of the same first vehicle position point to obtain an initial adjusted pose. When the target guide vehicle travels into the cargo compartment of the target truck according to the initial adjusted pose, the third coordinate information corresponding to at least one second vehicle position point inside the cargo compartment of the target truck in the first coordinate system and the fourth coordinate information corresponding to at least one second vehicle position point in the second coordinate system are determined. Based on the third and fourth coordinate information of the same second vehicle position point, the initial adjusted pose of the target guide vehicle is adjusted in real time until the adjusted vehicle pose meets the preset pose conditions, thus obtaining the warehouse entry vehicle pose. The target pallet transportation is then processed based on the warehouse entry vehicle pose and the target warehouse location information.

[0086] For example, referring to the above example, the explanation will be based on the first coordinate system being the carriage coordinate system {T} and the second coordinate system being the AGV body coordinate system {B}. See [link to relevant documentation]. Figure 4 , Figure 4 This is an example diagram of the x and y axes in the first coordinate system. The car body coordinate system is based on the ground projection point of the center of the car body door opening of the target freight car. With the origin as the x-axis and the direction pointing towards the interior of the target truck's cargo compartment as the positive x-axis, the x-axis is used as the x-axis. The positive y-axis is defined as the direction pointing to the left side of the target truck's cargo compartment. The upward direction is taken as the positive z-axis. Based on the first vehicle position point selected from the door frame and loading ramp boundary of the target truck, the transformation matrix corresponding to the truck body coordinate system {T} and the AGV body coordinate system {B} is determined. The current body pose of the forklift AGV is then adjusted according to this transformation matrix to obtain the initial adjusted pose. .

[0087] When entering the cargo compartment of the target truck based on the initial adjusted posture, the vehicle can use the equipped vehicle-mounted laser or SLAM (Simultaneous Localization and Mapping) to collect in real time the third coordinate information of at least one second vehicle position point in the cargo compartment coordinate system and the fourth coordinate information in the AGV body coordinate system, so as to determine the dynamic cargo compartment map. During the process of entering the carriage, third and fourth coordinate information is periodically collected to periodically update the dynamic carriage map. The system calculates the vehicle's pose and performs statistical filtering on abnormal coordinate data caused by metal reflections and repetitive textures to improve positioning stability.

[0088] Using the centerline of the target truck's cargo compartment or the centerline of the target corridor as constraints, the target guide vehicle controls its steering and speed to form a low-speed centering motion. When the lateral deviation value corresponding to the vehicle body pose of the target guide vehicle is less than a first threshold (for example, the first threshold can be 30mm) and the heading deviation angle is less than a second threshold (for example, the second threshold can be 1°), the vehicle body pose of the vehicle entering the warehouse is determined, that is, the vehicle enters the parking stage.

[0089] It should also be noted that during the process of the target guide vehicle entering the cargo compartment of the target truck, the height and slope information of the embankment formed by the target truck and the loading ramp can be determined. Based on the embankment height and slope information, the speed and acceleration of the target guide vehicle entering the cargo compartment of the target truck can be determined, and the tail carriage can be positioned by compensating for the fork tilt angle and lateral displacement.

[0090] Specifically, this can be achieved by determining the curb height and slope information based on the target truck's height. For example, when the truck height is 1550mm, the curb height is approximately 15mm and the slope is approximately 7 degrees. When the truck height is 1420mm, the curb height is approximately 10mm and the slope is approximately 5 degrees. When the truck height is 1300mm, it is essentially level, meaning the slope is approximately 0 degrees. Alternatively, the slope and curb height information can be determined based on the IMU (Inertial Measurement Unit) attitude and the geometric parameters of the loading ramp. If the slope is greater than a preset slope threshold (e.g., the preset slope threshold could be 8 degrees) or the curb height is greater than a preset curb height threshold (e.g., the preset curb height threshold could be 20mm), then a low-speed climbing mode is entered. In this mode, acceleration and angular velocity are limited to prevent the finished cigarettes in the target pallet from shaking or slipping. Furthermore, fork tilt and lateral displacement compensation are performed before the rear pallet is positioned to ensure the bottom of the pallet is parallel and aligned with the target storage location. In addition, to ensure accurate placement of the tailstock, the forks of the target guide vehicle are equipped with tilt adjustment of ±3° and lateral movement of ±50mm, taking into account the slope information of the loading ramp and the changes in the vehicle's body posture.

[0091] S290. Based on the target storage location information, transport the target pallet to the target storage location.

[0092] Optionally, transporting the target pallet to the target storage location based on the vehicle body pose and the target storage location information includes: if the target storage location information meets preset location conditions, then correcting the vehicle body pose based on the fifth coordinate information of at least one third vehicle position point of the target truck in the first coordinate system and the sixth coordinate information in the second coordinate system to obtain a corrected vehicle body pose; performing trajectory planning based on the corrected vehicle body pose and the target storage location information to determine the first entry trajectory information and transporting the target pallet to the target storage location based on the first entry trajectory information; if the target storage location information does not meet the preset location conditions, then performing trajectory planning based on the vehicle body pose and the target storage location information to determine the second entry trajectory information and transporting the target pallet to the target storage location based on the second entry trajectory information.

[0093] The preset location condition can be that the target storage location information is consistent with the first storage location information. For example, the location information of the first storage location can be a storage location near the vehicle door, such as... Figure 5 As shown, when all the storage spaces in the front compartments are already loaded with finished cigarettes, the last two storage spaces can be considered as the first storage space.

[0094] The third vehicle location point can be a selected location point from the centerline of the target truck's cargo door opening or on the cargo door frame. The fifth coordinate information can be understood as the coordinates of at least one third vehicle location point in the first coordinate system. The sixth coordinate information can be the coordinates of at least one third vehicle location point in the second coordinate system. Correcting the vehicle body pose can be the pose obtained by adjusting the vehicle body pose for entry. The first entry trajectory information is used to characterize the guide vehicle trajectory for placing the target pallet in the target storage location when the target storage location information meets the preset position conditions. Correspondingly, the second entry trajectory information is used to characterize the guide vehicle trajectory for placing the target pallet in the target storage location when the target storage location information does not meet the preset position conditions.

[0095] Optionally, the inbound trajectory information includes at least the following stages: pre-alignment stage, centering stage, and inbound stage. In the pre-alignment stage, the distance between the boundary of the target guide vehicle and the target truck's cargo compartment is not less than a safe distance. In the centering stage, the target guide vehicle adjusts its body posture based on the center line of the target warehouse location to achieve posture alignment. In the inbound stage, the target guide vehicle performs low-speed straight-line propulsion and combines fork side shift / tilt compensation to achieve edge-hugging entry.

[0096] Specifically, when the target storage location information matches the first storage location information, it is determined that the target storage location information meets the preset location conditions. Then, based on the fifth coordinate information of at least one third vehicle position point of the target truck in the first coordinate system and the sixth coordinate information in the second coordinate system, the vehicle body pose is corrected to obtain the corrected vehicle body pose. Based on the corrected vehicle body pose and the target storage location information, an entry trajectory is planned to determine the first entry trajectory information. The target pallet is transported to the target storage location according to the first entry trajectory information, and the finished cigarettes in the target pallet are placed in the target storage location.

[0097] If the target storage location information is inconsistent with the first storage location information, it is determined that the target storage location information does not meet the preset location conditions. Then, based on the vehicle's position and the target storage location information, an inbound trajectory is planned to obtain the second inbound trajectory information. According to the second inbound trajectory information, the target pallet is transported to the target storage location, and the finished cigarettes in the target pallet are placed in the target storage location.

[0098] For example, in conjunction with the above example, the forklift AGV combines a vehicle map. Using the SLOT_LIST dynamic pallet location information maintained by the AGV scheduling system, the target pallet location SLOTi and its entry trajectory are determined to complete the parallel loading of two pallets. For the last two pallet locations at the rear of the target truck's cargo compartment, the doorway and door frame outline are preferably used as positioning reference points to improve the accuracy of the rear pallet placement. The SLOT_LIST is a list of pallet locations, containing at least the location number, center coordinates (xi, yi) (in {T}), location orientation, location dimensions (Li, Wi), occupancy status, pallet identifier, update timestamp, and validity flag.

[0099] Based on the target truck's cargo box width and pallet dimensions, determine a grid area of ​​parallel double pallets that matches the target truck's cargo box in the cargo box coordinate system. For each grid area, to avoid edge scraping, a pre-set safety margin is used. The grid area is expanded outwards to obtain the available storage area. The available area of ​​each storage location is designated as a preset storage location. It should be noted that, for different truck models and pallet sizes, the preset storage location can be dynamically determined according to the parameters issued by the target scheduling system, and the location information of the preset storage location can be determined.

[0100] Based on the point cloud data of the target truck's cargo compartment and at least one preset storage location, the location information of the target storage location is determined. When the target storage location meets the preset location conditions (e.g., more than 90% of the cargo compartment length from the center of the doorway), the location is determined by the straight line of the left door frame. Right door frame straight line Using the central axis of the carriage doorway as a reference, at least one third vehicle position point is determined. Based on the coordinates of the third vehicle position point in the corresponding coordinate system, the orientation of the entering vehicle is adjusted to obtain a corrected vehicle orientation. The entry point is simultaneously corrected to improve the accuracy of cigarette product placement at the rear of the carriage. Based on the corrected vehicle orientation and the target storage location information, the first entry trajectory information is determined, which includes at least the pre-alignment stage. Midpoint stage and entry point phase ,exist During this phase, the target guidance vehicle maintains a distance of no less than a safe distance from the boundary of the target truck's cargo compartment. In this phase, the target guidance vehicle adjusts its position and posture based on the centerline of the target storage location to achieve attitude alignment. During this phase, the target guide vehicle performs low-speed straight-line propulsion and combines fork side shift / tilt compensation to achieve edge insertion.

[0101] During the above process, if the positioning drift inside the truck exceeds the offset threshold or the confidence level of the doorway recognition or the confidence level of the storage location recognition remains below the confidence threshold, the forklift AGV will exit the truck at low speed or stop on the spot to wait for manual handling, in order to prevent the positioning operation from continuing under unreliable positioning.

[0102] It should be noted that after each placement of finished cigarettes in a pallet, the forklift AGV uses laser / vision to acquire the outer contour and actual placement posture of the placed pallet, updates the corresponding occupancy status and pallet identification, deducts the pallet-occupied area from the free space, recalculates the remaining free area and available storage space set, and rearranges subsequent storage spaces as necessary (e.g., moving forward / reducing), thus realizing dynamic management of the truck compartment storage space and improving the accuracy of managing finished cigarettes in the truck compartment.

[0103] It should also be noted that after the target guide vehicle places the finished cigarettes on the target pallet into the target storage location, it sends a feedback message indicating that loading is complete back to the target scheduling system. This allows the target scheduling system to send a LOAD_DONE message back to the target business system and simultaneously update the storage location usage information of the target truck and the finished cigarette information in the temporary storage area, thus achieving full traceability of the loading process.

[0104] In addition, the wheel pressure can be calculated using the following formula to verify the load-bearing capacity of the target truck's cargo compartment, ensuring that the target guide vehicle can safely drive to the target truck's target storage location.

[0105] ; in, Indicates the weight of the target guidance vehicle. This indicates the weight of finished cigarettes that the target truck can carry. Represents the projected area. This indicates the dynamic load factor. For example, in... It weighs 3000 kg. It weighs 1000 kg. Approximately 4.785 square meters. The determined calculation result when the value is 1.2 The load-bearing capacity of the target truck's cargo box steel plates and cargo box floor is calculated to be approximately 1000 kg / m².

[0106] Optionally, embodiments of the present invention further include: during the process of transporting the target pallet from the temporary storage area to the target storage location, acquiring in real time the point cloud data to be detected corresponding to the driving direction of the target guide vehicle; performing point cloud classification processing on the point cloud data to be detected to obtain at least one category of point cloud data to be verified; and stopping driving and issuing a warning when the at least one category of point cloud data to be verified includes point cloud data of a preset category.

[0107] The point cloud data to be detected can be point cloud data located in front of the target guide vehicle. Optionally, the point cloud data to be detected can be classified according to its distance from the front of the target guide vehicle. For example, the point cloud data to be detected within a fan-shaped or rectangular area 0.8 meters to 3 meters in front of the target guide vehicle can be classified as the first category of point cloud data to be verified, and the point cloud data to be detected within an area 0 meters to 0.8 meters in front of the target guide vehicle can be classified as the second category of point cloud data to be verified. The preset category of point cloud data can be the point cloud data corresponding to a preset category. For example, in the above example, the preset category of point cloud data can be the second category of point cloud data to be verified.

[0108] Specifically, during the transportation of the target pallet from the temporary storage area to the target storage location, real-time acquisition of point cloud data corresponding to the driving direction of the target guide vehicle is performed. This point cloud data is then classified to obtain at least one category of point cloud data to be verified. If at least one category of the point cloud data to be verified includes point cloud data of a preset category, the vehicle stops and a warning is issued.

[0109] It should be noted that if the point cloud data to be detected collected within the preset time period after the target guide vehicle stops moving does not include point cloud data of the preset category, then the vehicle will continue to move and the loading operation will be performed.

[0110] For example, based on the above example, a warning zone can be constructed in front of the forklift AGV in the direction of travel. and dangerous areas The warning area can be a fan-shaped or rectangular area 0.8 to 3 meters in front of the forklift AGV. The danger area can be a rectangular area 0 to 0.8 meters in front of the forklift AGV and corresponding to the width of the forklift AGV.

[0111] During the forklift AGV's operation, real-time point cloud data corresponding to the direction of travel (corresponding to the point cloud data to be detected) is acquired. If it is determined that the point cloud data ahead includes point cloud data within the warning area, the travel speed is reduced to a preset speed (e.g., the preset speed could be 0.5 m / s), and an audible and visual warning is issued. If the point cloud data ahead includes point cloud data within a danger zone, the vehicle stops, brakes are applied, and an audible and visual warning is issued.

[0112] If the detected point cloud data for the forklift AGV does not include point cloud data from the warning area or the danger zone within a preset time period (e.g., the preset time period could be 3 seconds), and the data collected by each sensor of the forklift AGV is normal, then the speed limit / stop operation is lifted, and loading operations continue. If the speed limit / stop operation is triggered multiple times, or if the detected point cloud data for the forklift AGV within the preset time period includes point cloud data from the warning area or the danger zone, then a warning message is generated and uploaded to the AGV scheduling system for manual confirmation.

[0113] Optionally, embodiments of the present invention further include: deploying a fork-tip vision camera at at least one preset position on the forks of the target guide vehicle to acquire driving data information through the fork-tip vision camera, wherein the driving data information includes at least: the object category, object distance, and object position of at least one object associated with the driving direction of the target guide vehicle; performing anomaly assessment based on the driving data information to obtain anomaly assessment results; and performing speed limiting or stopping processing based on the anomaly assessment results.

[0114] The forks can be located at at least one preset position, such as the front end, inner side, or bottom of the left and right forks. At least one object can be a person, vehicle, obstacle, or pallet located in front of the target guided vehicle. The anomaly assessment results can be used to characterize whether at least one object affects the movement of the target guided vehicle.

[0115] For example, in conjunction with the above example, fork-tip vision cameras are arranged at the front, inner, or lower sides of the left and right forks of the target guide vehicle to form near-field perception covering the fork tips. The fork-tip vision cameras determine the distance and relative position of objects such as personnel, vehicles, obstacles, or pallets located in front of the target guide vehicle, to supplement the blind spots of the laser at close range or under obstruction. When personnel, vehicles, obstacles, or pallet edges are detected entering the fork-tip danger zone (e.g., 0 to 0.6 meters in front of the fork tips of the target guide vehicle), the vehicle stops immediately; when personnel, vehicles, obstacles, or pallet edges are detected entering the fork-tip warning zone (e.g., within 0.6 to 1.5 meters in front of the fork tips of the target guide vehicle), the speed is limited.

[0116] It should be noted that when the target guide vehicle is performing operations such as forklifting, lifting, and parking, the fork tip vision camera and the vehicle-mounted laser equipment can work simultaneously. If any abnormality is found in the data collected by either device, the target guide vehicle will be slowed down or stopped to reduce the risk of scraping, bumping, and hitting people, thus ensuring the safety of loading operations.

[0117] It should also be noted that if any of the data collected by the vehicle-mounted navigation laser / safety laser equipment for target guidance, the stereo vision camera, or the fork tip vision camera is abnormal, the vehicle will stop. Simultaneously, heartbeat checks are performed on the aforementioned equipment on the target guidance vehicle, and the validity of the collected data is checked. If any abnormality is detected, a safety shutdown is initiated and a fault code is reported. Based on this multi-level visual obstacle avoidance and fork tip blind spot monitoring, the risk of collision accidents can be reduced, ensuring transportation safety.

[0118] Based on the above example, in the scenario of loading a 14-meter target truck, the single cycle action time is about 159 seconds, and the handling efficiency is about 22 times / hour. Since two pallets of finished cigarettes can be loaded in one handling operation, the loading efficiency is about 44 pallets / hour, which can meet the loading target of no less than 30 pallets / hour.

[0119] The technical solution of this embodiment is applied to a target guidance vehicle. Upon receiving a scheduling task, it performs attitude recognition processing on the target pallet associated with the pallet location information in the temporary storage area based on the pallet location information in the task, determining the pallet pose information. Based on the pallet pose information and the current vehicle body pose of the target guidance vehicle, it determines the forklift attitude and forklift trajectory for the target pallet, and processes the transport of the target pallet based on the forklift attitude, forklift trajectory, and truck position information. When a first distance between the target truck and the target truck is detected to be less than a preset distance threshold, it performs a passage assessment based on the regional point cloud data associated with the target truck, obtaining a passage assessment result. When the passage assessment result indicates normal passage, it determines the passage area to be processed based on the projected rectangle information of the truck's cargo doorway and the second direction corresponding to the target truck; it adjusts the passage area to be processed according to adjustment parameters to obtain the target passage area; and it transports the target pallet into the cargo compartment of the target truck based on the target passage area. Through passage assessment and passage area determination, it can adapt to cargo compartment parking deviations and dynamic changes inside the cargo compartment, improving the success rate of finished cigarette warehousing. Based on the point cloud data of the target truck's cargo compartment and at least one preset storage location information, the target storage location information corresponding to the target pallet is determined, so that the target pallet can be transported to the target storage location corresponding to the target storage location information. This invention solves the problems of low operation efficiency, high operation cost, and oversight in the handling of finished cigarettes caused by manual loading of finished cigarettes in the prior art. It realizes unmanned automated loading and transportation based on a guided vehicle, improving the efficiency and accuracy of loading operations, and ensuring the reliability and safety of loading operations.

[0120] Example 3 Figure 6 This is a schematic diagram of a cigarette loading device according to Embodiment 3 of the present invention. It is applied to a target guide vehicle, and the target guide vehicle and the temporary storage area for storing finished cigarettes satisfy a preset positional relationship, such as... Figure 6 As shown, the device includes: a pallet position determination module 310, a transportation information determination module 320, a passage assessment result determination module 330, a storage location determination module 340, and a pallet entry module 350.

[0121] The pallet pose determination module 310 is used to, upon receiving a scheduling task to be processed, perform pose recognition processing on the target pallet associated with the pallet position information in the temporary storage area based on the pallet position information in the scheduling task to be processed, and determine the pallet pose information of the target pallet; wherein, the target pallet contains finished cigarettes corresponding to the scheduling task to be processed, and the scheduling task to be processed includes at least the pallet position information of the target pallet to be transported and the truck position information of the target truck to be transported; the transportation information determination module 320 is used to determine the forklift posture and forklift trajectory for the target pallet based on the pallet pose information and the current vehicle body pose of the target guide vehicle, and based on the forklift posture and the forklift trajectory... The system performs transportation processing on the target pallet using the vehicle's location information and the vehicle's location information; a passage assessment result determination module 330 is used to perform passage assessment processing based on the regional point cloud data associated with the target vehicle when a first distance between the target vehicle and the target vehicle is detected to be less than a preset distance threshold, and obtain a passage assessment result; a storage location determination module 340 is used to transport the target pallet into the cargo compartment of the target vehicle when the passage assessment result meets the preset passage conditions, and determine the target storage location information corresponding to the target pallet based on the cargo compartment point cloud data of the target vehicle and at least one preset storage location information; a pallet entry module 350 is used to transport the target pallet to the target storage location based on the target storage location information.

[0122] The technical solution of this embodiment is applied to a target guidance vehicle. Upon receiving a scheduling task, it performs attitude recognition processing on the target pallet associated with the pallet location information in the temporary storage area based on the pallet location information in the task, determining the pallet pose information. Based on the pallet pose information and the current vehicle body pose of the target guidance vehicle, it determines the forklift attitude and forklift trajectory for the target pallet, and processes the transport of the target pallet based on the forklift attitude, forklift trajectory, and truck position information. When a first distance between the target pallet and the target truck is detected to be less than a preset distance threshold, it performs a passage assessment based on the regional point cloud data associated with the target truck, obtaining a passage assessment result. When the passage assessment result meets preset passage conditions, the target pallet is transported into the truck bed of the target truck. Based on the truck bed point cloud data and at least one preset storage location location information, it determines the target storage location location information corresponding to the target pallet, and transports the target pallet to the target storage location corresponding to the target storage location location information. This invention solves the problems of low efficiency, high cost, and oversight in the handling of finished cigarettes caused by manual loading of finished cigarettes in the prior art. It realizes unmanned automatic loading and transportation based on a guide vehicle, which improves the efficiency and accuracy of loading operations and ensures the reliability and safety of loading operations.

[0123] Based on the above embodiments, optionally, the pending scheduling task is determined in the following manner: when the target business system determines that the parking status of the target truck meets the preset parking conditions, the truck location information of the target truck is sent to the target scheduling system; when the target business system determines that the temporary storage area includes a pallet to be loaded, the pallet to be loaded is taken as the target pallet, and the pallet location information of the target pallet is sent to the target scheduling system, so that the target scheduling system generates a pending scheduling task based on the truck location information and the pallet location information of the target pallet, and issues the pending scheduling task to the target guide vehicle.

[0124] Optionally, the scheduling task to be processed also includes verification location information of the verification area, which is located between the temporary storage area and the target truck. The transportation information determination module includes: a target pallet transportation unit, used to align the cigarette finished product identification information of the target pallet with the verification equipment in the verification area when transporting the target pallet to the verification area according to the forklift posture, the forklift trajectory and the verification location information, so as to verify the cigarette finished product in the target pallet through the verification equipment; and to process the transportation of the target pallet based on the truck location information when a verification result of passing the verification is received.

[0125] Optionally, the traffic assessment result determination module includes: a traffic assessment unit, used to perform ground point cloud removal processing on the regional point cloud data to obtain first point cloud data; perform clustering processing on the first point cloud data to determine second point cloud data associated with the cargo door opening of the target truck; perform data fitting processing on the second point cloud data to determine the width of the cargo door opening of the target truck and the door opening recognition confidence level corresponding to the width of the cargo door opening; determine the lateral deviation value and heading deviation angle of the target truck relative to a first direction; and determine the traffic assessment result as normal traffic when the lateral deviation value is less than a preset deviation threshold, the heading deviation angle is less than a preset deviation angle, the cargo door opening width is greater than a preset width threshold, and the door opening recognition confidence level is greater than a preset confidence level threshold.

[0126] Optionally, the storage location determination module includes: a passage assessment judgment unit, used to determine that the passage assessment result meets preset passage conditions when the passage assessment result is normal; determine the passage area to be processed based on the projected rectangle information of the door opening of the target truck and the second direction corresponding to the target truck; adjust the passage area to be processed according to the adjustment parameters to obtain the target passage area; and transport the target pallet to the truck bed according to the target passage area.

[0127] Optionally, the device further includes: an inbound vehicle body pose determination module, used to adjust the current vehicle body pose of the target guide vehicle based on first coordinate information in a first coordinate system and second coordinate information in a second coordinate system of at least one first vehicle position point of the target truck to obtain an initial adjusted pose; wherein, the first coordinate system is a three-dimensional coordinate system established based on the ground projection point of the center of the truck bed doorway of the target truck, and the second coordinate system is a three-dimensional coordinate system established based on the vehicle center of the target guide vehicle; when driving into the truck bed of the target truck according to the initial adjusted pose, at least one second vehicle position point is determined to have third coordinate information in the first coordinate system and fourth coordinate information in the second coordinate system; the initial adjusted pose is adjusted in real time based on the third coordinate information and the fourth coordinate information, so that when the adjusted vehicle body pose meets the preset pose conditions, the inbound vehicle body pose is determined, so that the target pallet is transported to the target warehouse location based on the inbound vehicle body pose and the target warehouse location information.

[0128] Optionally, the pallet receiving module is used to, if the target storage location information meets preset location conditions, correct the vehicle body pose of the receiving vehicle based on the fifth coordinate information of at least one third vehicle location point of the target truck in the first coordinate system and the sixth coordinate information in the second coordinate system to obtain a corrected vehicle body pose; perform trajectory planning based on the corrected vehicle body pose and the target storage location information to determine first receiving trajectory information and transport the target pallet to the target storage location based on the first receiving trajectory information; if the target storage location information does not meet the preset location conditions, perform trajectory planning based on the receiving vehicle body pose and the target storage location information to determine second receiving trajectory information and transport the target pallet to the target storage location based on the second receiving trajectory information.

[0129] Optionally, the device further includes: an early warning module, used to acquire, in real time, point cloud data to be detected corresponding to the driving direction of the target guide vehicle during the process of transporting the target pallet from the temporary storage area to the target storage location; perform point cloud classification processing on the point cloud data to be detected to obtain at least one category of point cloud data to be verified; and stop driving and issue an early warning when the at least one category of point cloud data to be verified includes point cloud data of a preset category.

[0130] The cigarette loading device provided in this embodiment of the invention can execute the cigarette loading method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0131] Example 4 Figure 7This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0132] like Figure 7 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0133] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0134] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method of loading finished cigarette products onto a truck.

[0135] In some embodiments, the cigarette loading method can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the cigarette loading method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the cigarette loading method by any other suitable means (e.g., by means of firmware).

[0136] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0137] The computer program for implementing the cigarette loading method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are performed. The computer program can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0138] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication unit 19, or installed from storage unit 18, or installed from ROM 12. When the computer program is executed by processor 11, it performs the functions defined in the methods of the embodiments of the present invention.

[0139] Example 5 Embodiment 5 of the present invention also provides a computer-readable storage medium storing computer instructions for instructing a processor to execute a method for loading finished cigarettes onto a target guide vehicle. The target guide vehicle and a temporary storage area for storing finished cigarettes satisfy a preset positional relationship. The method includes: Upon receiving a pending scheduling task, the target pallet associated with the pallet location information in the pending scheduling task is subjected to attitude recognition processing in the temporary storage area to determine the pallet pose information of the target pallet; wherein, the target pallet contains finished cigarette products corresponding to the pending scheduling task, and the pending scheduling task includes at least the pallet location information of the target pallet to be transported and the truck location information of the target truck to be transported. Based on the pallet pose information and the current vehicle body pose of the target guide vehicle, the forklift attitude and forklift trajectory for the target pallet are determined, and the target pallet transportation is processed based on the forklift attitude, the forklift trajectory and the truck position information. When the first distance between the target truck and the target truck is detected to be less than a preset distance threshold, a passage assessment process is performed based on the regional point cloud data associated with the target truck to obtain a passage assessment result. When the passage assessment result meets the preset passage conditions, the target pallet is transported to the compartment of the target truck. Based on the point cloud data of the truck compartment and at least one preset storage location information, the target storage location information corresponding to the target pallet is determined. Based on the target storage location information, the target pallet is transported to the target storage location.

[0140] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0141] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0142] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0143] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0144] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0145] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for loading finished cigarette products onto a vehicle, characterized in that, The method, applied to a target guiding vehicle, wherein the target guiding vehicle and a temporary storage area for finished cigarette products satisfy a preset positional relationship, includes: Upon receiving a pending scheduling task, the target pallet associated with the pallet location information in the pending scheduling task is subjected to attitude recognition processing in the temporary storage area to determine the pallet pose information of the target pallet; wherein, the target pallet contains finished cigarette products corresponding to the pending scheduling task, and the pending scheduling task includes at least the pallet location information of the target pallet to be transported and the truck location information of the target truck to be transported. Based on the pallet pose information and the current vehicle body pose of the target guide vehicle, the forklift attitude and forklift trajectory for the target pallet are determined, and the target pallet transportation is processed based on the forklift attitude, the forklift trajectory and the truck position information. When the first distance between the target truck and the target truck is detected to be less than a preset distance threshold, a traffic assessment is performed based on the regional point cloud data associated with the target truck to obtain a traffic assessment result. When the passage assessment result meets the preset passage conditions, the target pallet is transported to the compartment of the target truck. Based on the point cloud data of the truck compartment and at least one preset storage location information, the target storage location information corresponding to the target pallet is determined. Based on the target storage location information, the target pallet is transported to the target storage location.

2. The method according to claim 1, characterized in that, The tasks to be scheduled are determined in the following manner: When the target business system determines that the parking status of the target truck meets the preset parking conditions, the truck location information of the target truck is sent to the target dispatch system. When the target business system determines that the temporary storage area includes a pallet to be loaded, the pallet to be loaded is designated as the target pallet, and the pallet location information of the target pallet is sent to the target scheduling system. This enables the target scheduling system to generate a scheduling task to be processed based on the truck location information and the pallet location information of the target pallet, and then distribute the scheduling task to the target guide vehicle.

3. The method according to claim 1, characterized in that, The pending scheduling task also includes verification location information of the verification area, which is located between the temporary storage area and the target truck. The target pallet transportation processing based on the forklift posture, the forklift trajectory, and the truck position information includes: When the target pallet is transported to the verification area according to the fork entry posture, the fork entry trajectory and the verification position information, the cigarette finished product identification information of the target pallet is aligned with the verification equipment in the verification area so that the cigarette finished product in the target pallet can be verified by the verification equipment. Upon receiving a successful verification result, the target pallet is transported based on the truck location information.

4. The method according to claim 1, characterized in that, The process of performing traffic assessment based on the regional point cloud data associated with the target truck to obtain a traffic assessment result includes: The point cloud data of the region is subjected to ground point cloud removal processing to obtain the first point cloud data; Clustering is performed on the first point cloud data to determine the second point cloud data associated with the door opening of the target truck. The second point cloud data is subjected to data fitting processing to determine the width of the cargo door opening of the target truck and the door opening recognition confidence level corresponding to the width of the cargo door opening; Determine the lateral deviation value and heading deviation angle of the target truck relative to the first direction; When the lateral deviation value is less than a preset deviation threshold, the heading deviation angle is less than a preset deviation angle, the width of the carriage doorway is greater than a preset width threshold, and the doorway recognition confidence level is greater than a preset confidence threshold, the passage assessment result is determined to be normal passage.

5. The method according to claim 1, characterized in that, When the traffic assessment result meets the preset traffic conditions, transporting the target pallet into the cargo compartment of the target truck includes: When the passage assessment result is normal, it is determined that the passage assessment result meets the preset passage conditions; Based on the projected rectangle information of the door opening of the target truck and the second direction corresponding to the target truck, the passage area to be processed is determined; Based on preset adjustment parameters, the passage area to be processed is adjusted to obtain the target passage area; Based on the target traffic area, the target pallet is transported to the cargo compartment of the target truck.

6. The method according to claim 5, characterized in that, The method further includes, when transporting the target pallet into the cargo compartment of the target truck: Based on the first coordinate information of at least one first vehicle position point of the target truck in the first coordinate system and the second coordinate information in the second coordinate system, the current vehicle body pose of the target guide vehicle is adjusted to obtain the initial adjusted pose; wherein, the first coordinate system is a three-dimensional coordinate system established based on the ground projection point of the center of the cargo door opening of the target truck, and the second coordinate system is a three-dimensional coordinate system established based on the vehicle center of the target guide vehicle. When driving to the cargo compartment of the target truck according to the initial adjusted posture, at least one second vehicle position point is determined to have third coordinate information in the first coordinate system and fourth coordinate information in the second coordinate system. The initial adjustment pose is adjusted in real time based on the third coordinate information and the fourth coordinate information. When the adjusted vehicle body pose meets the preset pose conditions, the vehicle body pose for entering the warehouse is determined. Based on the vehicle body pose for entering the warehouse and the target warehouse location information, the target pallet is transported to the target warehouse location.

7. The method according to claim 6, characterized in that, The step of transporting the target pallet to the target storage location based on the vehicle's position and the target storage location information includes: If the target storage location information meets the preset location conditions, the vehicle body pose of the vehicle entering the warehouse is corrected based on the fifth coordinate information of at least one third vehicle location point of the target truck in the first coordinate system and the sixth coordinate information in the second coordinate system, so as to obtain the corrected vehicle body pose. Based on the corrected vehicle body posture and the target warehouse location information, trajectory planning is performed to determine the first entry trajectory information, and based on the first entry trajectory information, the target pallet is transported to the target warehouse location; If the target storage location information does not meet the preset location conditions, then trajectory planning is performed based on the vehicle body posture and the target storage location information to determine the second storage trajectory information, and the target pallet is transported to the target storage location based on the second storage trajectory information.

8. The method according to claim 1, characterized in that, The method further includes: During the process of transporting the target pallet from the temporary storage area to the target storage location, real-time acquisition of point cloud data to be detected corresponding to the driving direction of the target guide vehicle is performed. The point cloud data to be detected is subjected to point cloud classification processing to obtain at least one category of point cloud data to be verified; If the point cloud data to be verified in at least one category includes point cloud data of a preset category, the driving will be stopped and a warning will be issued.

9. A device for loading finished cigarettes onto a vehicle, characterized in that, An apparatus applied to a target guiding vehicle, wherein the target guiding vehicle and a temporary storage area for finished cigarette products satisfy a preset positional relationship, the apparatus comprising: The pallet pose determination module is used to determine the pallet pose information of a target pallet associated with the pallet position information in the temporary storage area based on the pallet position information in the task to be processed when a task to be processed is received. The target pallet contains finished cigarettes corresponding to the task to be processed, and the task to be processed includes at least the pallet position information of the target pallet to be transported and the truck position information of the target truck to be transported. The transportation information determination module is used to determine the forklift posture and forklift trajectory of the target pallet based on the pallet posture information and the current vehicle posture of the target guide vehicle, and to process the transportation of the target pallet based on the forklift posture, the forklift trajectory and the truck position information. The traffic assessment result determination module is used to perform traffic assessment processing based on the regional point cloud data associated with the target truck when a first distance between the truck and the target truck is detected to be less than a preset distance threshold, and to obtain a traffic assessment result. The storage location determination module is used to transport the target pallet to the cargo compartment of the target truck when the passage assessment result meets the preset passage conditions, and to determine the target storage location information corresponding to the target pallet based on the point cloud data of the cargo compartment of the target truck and at least one preset storage location information. The pallet receiving module is used to transport the target pallet to the target storage location based on the target storage location information.

10. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the cigarette loading method according to any one of claims 1-8.

Images