WO2020155631A1 - Procédé, dispositif et système de gestion de matériau, serveur et support d'enregistrement - Google Patents

Procédé, dispositif et système de gestion de matériau, serveur et support d'enregistrement Download PDF

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Publication number
WO2020155631A1
WO2020155631A1 PCT/CN2019/105397 CN2019105397W WO2020155631A1 WO 2020155631 A1 WO2020155631 A1 WO 2020155631A1 CN 2019105397 W CN2019105397 W CN 2019105397W WO 2020155631 A1 WO2020155631 A1 WO 2020155631A1
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WO
WIPO (PCT)
Prior art keywords
area
target
robot
container
target material
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Application number
PCT/CN2019/105397
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English (en)
Chinese (zh)
Inventor
陈曦
王堃
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北京极智嘉科技有限公司
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Publication of WO2020155631A1 publication Critical patent/WO2020155631A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed

Definitions

  • the embodiments of the present application relate to the technical field of material handling, for example, to a material handling method, device, system, server, and storage medium.
  • robots can usually be used to transport the materials near the assembly line to the assembly line, so that robots can replace manual material handling and save labor costs caused by manual material handling.
  • the embodiments of the present application provide a material handling method, device, system, server, and storage medium to realize the flexible supply of required materials to the production line.
  • An embodiment of the application provides a material handling method, including:
  • the embodiment of the present application also provides a material handling device, including:
  • the first control module is configured to respond to the target material acquisition request of the target processing station, send a first control instruction to the robot located in the first area, control the robot in the first area, and transfer the target material in the first area The robot transported to the second area;
  • the second control module is configured to send a second control instruction to the robot located in the second area to control the robot in the second area to transport the target material to the target processing station.
  • An embodiment of the present application also provides a material handling system, including: a control server, a robot located in a first area, a robot located in a second area, and a storage container; wherein the storage container is placed with a material container and/or material; There are materials in the material container;
  • the control server is configured to respond to the target material acquisition request of the target processing station, send a first control instruction to the robot located in the first area, and send a second control instruction to the robot located in the second area;
  • the robot in the first area is configured to respond to the first control instruction to transport the target material in the first area to the robot in the second area;
  • the robot in the second area is configured to respond to the second control instruction to transport the target material to the target processing station.
  • control server including:
  • One or more processing devices are One or more processing devices;
  • Storage device configured to store one or more programs
  • the one or more processing devices When the one or more programs are executed by the one or more processing devices, the one or more processing devices implement the material handling method described in any of the embodiments of the present application.
  • the embodiments of the present application also provide a computer-readable storage medium, and the computer-readable storage medium stores a computer program, and when the program is executed by the processing device, the material handling method as described in any of the embodiments of the present application is implemented.
  • the embodiment of the application provides a material handling solution, including: in response to a target material acquisition request of a target processing station, sending a first control instruction to a robot located in a first area, controlling the robot in the first area, The target material in one area is transported to the robot in the second area; a second control instruction is sent to the robot in the second area to control the robot in the second area to transport the target material to the target processing station.
  • Figure 1 is a schematic diagram of material handling between a work area and a material storage area provided in an embodiment of the present application
  • FIG. 2 is a schematic flowchart of a material handling method provided in an embodiment of the present application
  • FIG. 3 is a schematic flowchart of a method for handling target materials by a robot that controls a first area provided in an embodiment of the present application;
  • FIG. 4 is a schematic structural diagram of a storage container provided in an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a robot in the first area for handling target materials provided in an embodiment of the present application
  • Fig. 6 is a schematic structural diagram of a first-type robot located in a first area provided in an embodiment of the present application;
  • FIG. 7 is a schematic flowchart of another method for controlling a robot in the first area to transport target materials according to an embodiment of the present application
  • FIG. 8 is another schematic diagram of handling target materials by a robot in the first area provided in an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a third-type robot located in the first area provided in an embodiment of the present application.
  • FIG. 10 is a schematic flowchart of another method for controlling a robot in the first area to transport target materials according to an embodiment of the present application
  • FIG. 11 is another schematic diagram of handling target materials by robots in the first area provided in an embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of a fourth type of robot located in the first area provided in an embodiment of the present application.
  • Figure 13 is a schematic structural diagram of a material handling device provided in an embodiment of the present application.
  • FIG. 14 is a schematic structural diagram of a material handling system provided in an embodiment of the present application.
  • Fig. 15 is a schematic structural diagram of a control server provided in an embodiment of the present application.
  • FIG. 1 provides a schematic diagram of material handling between the work area and the material storage area.
  • Figure 1 for the process of material handling between the work area and the material storage area.
  • Schematic diagram of material handling. 1 multiple storage containers 101 can be provided in the material storage area 100, and multiple materials can be placed on the storage container 101, or multiple material containers containing materials can be placed on the storage container 101, or A variety of materials and a variety of material containers containing materials can be placed on the storage container 101.
  • multiple storage containers 101 can be arranged into a storage container group, and the storage container group and the storage container group are arranged in an array form.
  • a plurality of material replenishment positions 130 are provided on one side of the material storage area 100, and the material in the material storage area 100 is replenished through the material replenishment positions 130.
  • multiple processing stations 111 for material processing can be set in the work area 110.
  • Staff or automated equipment can process materials on the processing stations 111 for material processing, and multiple processing stations 111 for material processing.
  • the processing stations 111 to be processed can be arranged in an array form.
  • FIG. 2 is a schematic flowchart of a material handling method provided in an embodiment of the present application. This embodiment may be applicable to the case of material handling between different areas.
  • the method can be executed by a material handling device, which can be implemented in software and/or hardware, and integrated in any control server with a network communication function.
  • the material handling method of the embodiment of the present application may include the following steps.
  • S2010 in response to the target material acquisition request of the target processing station, send a first control instruction to the robot located in the first area, control the robot in the first area, and transport the target material in the first area to the robot in the second area.
  • the application scenario of the material handling solution of this embodiment may be an assembly line operation scenario that requires multiple material support.
  • the scenario may include, but is not limited to, material handling scenarios in the warehousing and logistics industry, and electronic product production and processing.
  • material handling scenarios in the warehousing and logistics industry and electronic product production and processing.
  • the scene of material handling in the industry and the scene of material handling in industries such as automobiles and mechanical assembly.
  • the actual material handling scenario it may include the case of material transportation between two areas, and the case of material transportation between more areas.
  • two areas are now taken as examples, where the two areas include: the first area and the second area.
  • different areas may be provided with respective corresponding types of robots, and different types of robots may implement different functions.
  • the first area and the second area can be understood as a kind of reference. Different areas can be distinguished through the “first area” and “the second area” to avoid logic between areas. On the chaos.
  • the processing station can be understood as a work station that performs corresponding processing on the acquired materials.
  • the processing station can be a production processing line for accessories that need to be processed.
  • the target processing station can directly send a target material acquisition request to the control server, or indirectly send a target material acquisition request to the control server through the material acquisition request sending device.
  • the target material acquisition request may carry target material information required by the target processing station.
  • any processing station can be used as a target processing station under certain circumstances.
  • “Target processing station” can be understood as a reference , Through the "target processing station” can distinguish different processing stations to avoid logical confusion.
  • control server may receive the target material acquisition request of the target processing station, and respond to the target material acquisition request of the target processing station.
  • the control server may respond to the target material acquisition request of the target processing station and send the first control instruction to the robot located in the first area.
  • the control server can control the robot in the first area to find the target material in the first area through the first control instruction that has been sent, and transport the target material in the first area to the robot in the second area to pass the second area.
  • the robots in the area move the target material to the target processing station.
  • the control server may respond to the target material acquisition request of the target processing station and send the first area to the robot located in the material storage area 100.
  • the control server can control the robot located in the material storage area 100 to find the target material in the material storage area 100 through the first control instruction that has been sent, and transport the target material located in the material storage area 100 to the robot located in the working area 110 to The target material is transported to the target processing station by the robot located in the work area 110.
  • FIG. 3 is a schematic flowchart of a method for controlling a robot in the first area to transport target materials provided in an embodiment of the present application. This embodiment is described on the basis of the above-mentioned embodiment. This embodiment can be combined with one or more of the above-mentioned embodiments. The schemes in the examples are combined. As shown in FIG. 3, the method for controlling the robot in the first area to transport the target material in the embodiment of the present application may include steps S3010 to S3020.
  • FIG. 4 is a schematic structural diagram of a storage container provided in an embodiment of the present application.
  • a material 401 can be placed directly on the storage container 101; a material container 402 can also be placed on the storage container 101.
  • the container 402 may contain materials.
  • the inventory container 101 may include multiple compartments stacked in a vertical direction, and multiple materials 401 can be placed on each compartment, or multiple materials 401 can be placed on each compartment for holding A material container 402 for materials, or multiple materials 401 and multiple material containers 402 for holding materials can be placed in each compartment.
  • the storage container 101 may be a movable shelf.
  • the material container 402 can also be hung on a hook or rod in or on the storage container 101.
  • the material container 402 may be a material box for containing materials.
  • the material container 402 can be placed on the inner or outer surface of the inventory container 101 in any suitable manner.
  • the storage container 101 may also include one or more supporting parts 404.
  • the target material required by the target processing station may be located at different positions of the target storage container. If the target material in the target storage container or the material container containing the target material is directly transported, the first area is required. The robot moves multiple times to collect the target materials required by the target processing station.
  • Fig. 5 is a schematic diagram of a first area robot for handling target materials provided in an embodiment of the present application. Referring to Figure 5, in order to save the robot’s handling resources, improve the robot’s handling efficiency and reduce the robot’s handling times, the control server can pass the first control instruction when it is detected that the target materials are scattered in different positions of the target inventory container.
  • the first type robot 510 located in the first area is controlled, and the target inventory container 511 located in the first area is transported to the preset position of the second type robot 520 in the first area.
  • the target inventory container 511 may be placed with a target material or a material container containing the target material.
  • FIG. 6 is a schematic structural diagram of a first-type robot located in the first area provided in an embodiment of the present application.
  • the first-type robot may include a driving component 601, and the first-type robot may move in the working space of the first area through the driving component 601.
  • the first type of robot may also include a lifting assembly 602 for carrying the target inventory container.
  • the first type of robot may run under the target inventory container and use the lifting assembly 602 to lift the target inventory container.
  • the lifting assembly 602 lifts the entire target inventory container from the ground when the lifting assembly 602 is raised, so that the first-type robot carries the target inventory container, and when the lifting assembly 602 is lowered, the target inventory container is placed on the ground.
  • the control server can control the first type robot 510 located in the first area through the first control instruction, run to the bottom of the target inventory container 511, and pass the first type
  • the lifting assembly 602 of the robot 510 lifts the target stock container 511.
  • the control server may control the driving assembly 601 of the first type robot 510 to carry the lifted target inventory container 511 to the preset position of the second type robot 520 in the first area.
  • the bottom of the inventory container may be provided with an inventory container identifier 405.
  • the control server controls the first type of robot 510 to run below the target inventory container 511
  • the first type of robot 510 can run to just below the target inventory container 511 by identifying the inventory container identifier located at the bottom of the target inventory container 511 to ensure that the target inventory container 511 can be lifted and moved steadily.
  • the first-type robot may also be provided with a target recognition component 603. The first-type robot 510 can effectively recognize the inventory container identifier located at the bottom of the target inventory container through the target recognition component 603 to ensure the first The class robot 510 runs directly below the target inventory container.
  • the first type of robot in the first area is only responsible for moving the target inventory container 511 where the target material required by the target processing station is located, that is, it is only responsible for moving the target inventory container 511 to At the preset position of the second type robot 520 in the first area.
  • the preset position can be appropriately adjusted according to the actual position of the second type robot 520, as long as the second type robot 520 can perform normal operations on the target inventory container 511 at the preset position, for example, as long as it is guaranteed
  • the second type of robot 520 can perform operations such as taking out the target material from the target storage container 511.
  • control server may also control the storage container located in the first area through the first control instruction.
  • the second type of robot 520 takes out the target material from the target inventory container 511 and distributes the taken out target material to the robot 530 in the second area.
  • a readable mark 403, such as a two-dimensional code, may be provided near the front surface of the material and material container 402. 5, after the first type robot 510 in the first area carries the target inventory container 511 to the preset position of the second type robot 520 in the first area, the control server can control the second type robot 520 in the first area , Through the target recognition component located on the second type robot 520 to identify the readable mark of the target material on the target inventory container 511 or the readable mark 403 of the material container 402 containing the target material, and remove the target from the target inventory container 511 materials.
  • an optional example is provided to control the second type of robot in the first area to take out the target material from the target inventory container, and allocate the taken target material to the second area
  • the robot may include the following steps S30212 to S30214.
  • the second type robot in the first area may be fixedly arranged at the junction of the entrance and exit of the first area and the second area.
  • the second type of robot may be provided with a mechanical arm, which may include a grasping component.
  • the gripping assembly may include a gripper or a suction cup.
  • the readable mark on the target material or the readable mark on the target material container containing the target material can be identified from the target inventory container. Grab the target material or directionally grab the target material from the target material container placed on the target inventory container.
  • the target collection container may be understood as a container used to collect the target materials required by the target processing station, and the collection container may be a cage or other container used to collect materials.
  • the target collecting container can be pre-arranged at the junction of the entrance and exit of the first area and the second area. After the control server controls the grabbing component of the second type of robot to grab the target material through the first control instruction, it can put the grabbed target material into the target collection container, and at the same time place the target collection container in the second On the preset material carrier of the robots in the area, the target material taken out can be allocated to the robots in the second area.
  • controlling the second type robot in the first area taking out the target material from the target inventory container, and assigning the taken out target material to the second area
  • the robot can include the following steps S30222 to S30224.
  • S30222 Control the grabbing component of the second type of robot to directly grab the target material from the target inventory container or grab the target material from the target material container on the target inventory container.
  • the technical solution of this example is different from the technical solution of the previous example in that the target collection container of the previous example is preset at the junction of the entrance and exit of the first area and the second area, while the target collection container of this example is preset at the first area.
  • the preset material carrier for the second type of robot for the second type of robot. For this reason, after the control server controls the grabbing component of the second type robot to grab the target material through the first control instruction, the grabbed target material can be directly put into the preset material preset in the second type robot The target collection container on the carrier, thereby reducing the collection time of the target material to a certain extent.
  • FIG. 7 is a schematic flowchart of another method for controlling a robot in the first area to transport target materials provided in an embodiment of the present application. This embodiment is described on the basis of the foregoing embodiment. This embodiment may be combined with one or more of the foregoing embodiments. Combine the solutions in each embodiment. As shown in FIG. 7, the method for controlling the robot in the first area to transport target materials according to the embodiment of the present application may include steps S7010 to S7020.
  • a material container can be placed on the storage container of this embodiment, and the material container can contain materials, and the material can also be directly placed on the storage container of this embodiment.
  • the target material required by the target processing station may be located in the target material container at a certain position of the target inventory container. At this time, if the target inventory container is directly moved, it will inevitably add unnecessary to the first type of robot in the first area It is burdensome, and moving the inventory container will waste more time.
  • FIG. 8 is another schematic diagram of the transportation of target materials by the robot in the first area provided in the embodiment of the present application.
  • the control server in order to minimize the extra burden caused by the robot in the first area to move the entire inventory container, in the case of detecting the target material container placed in the same position of the target inventory container, the control server can pass the first A control instruction to control the third type robot 810 located in the first area, take out the target material container 811 from the target inventory container 511 in the first area, and transport the taken out target material container 811 to the second type robot in the first area 520 preset position.
  • the target inventory container 511 may be placed with a target material or a target material container 811 containing the target material.
  • controlling the third type robot in the first area to take out the target material container from the target inventory container in the first area may include: controlling the third The gripping component of the similar robot grips the target material container from the target inventory container in the first area.
  • Fig. 9 is a schematic structural diagram of a third type of robot located in the first area provided in an embodiment of the present application.
  • the third type of robot may have a clamping assembly, which may include a telescopic component 91, and the telescopic component 91 may be used to clamp a material container from a storage container.
  • the clamping assembly may also include a lifting component 92, which can lift or lower the telescopic component 91 to a preset height, so that the clamping assembly can be deep into the compartment of the storage container by adjusting the height of the clamping assembly In the process, the material container is clamped from the compartment of the storage container, or the material container is placed on the material container carrier of the third type robot by the clamping assembly.
  • the clamping assembly may further include a non-slip mat arranged on the inner side of the telescopic member 91, the non-slip mat is foldable, the non-slip mat is folded when the material container is not clamped, and the non-slip mat is stretched when the material container is clamped. open.
  • the third type of robot may also be a forklift robot with a forklift arm, and controlling the third type of robot in the first area to take out the target material container from the target inventory container in the first area may include: controlling the third The robot-like forklift arm takes out the target material container from the target inventory container in the first area.
  • the third type of robot may be provided with a target recognition component.
  • the control server controls the gripping components of the third-type robots and grips the target material container 811 from the target inventory container 511 in the first area
  • the control server can pass the target set on the third-type robot
  • the identification component identifies the readable mark of the target material container 811 containing the target material located on the target inventory container 511, and takes out the target material container 811 from the target inventory container 511.
  • the third type robot 810 in the first area is responsible for taking out the target material container 811 in which the target material required by the target processing station is located from the target inventory container 511, and removing the target material
  • the container 811 is transported to the preset position of the second type robot 520 in the first area.
  • the preset position can be appropriately adjusted according to the actual position of the second type robot 520, as long as the second type robot 520 can perform normal operations on the target material container 811 at the preset position, for example, as long as it is guaranteed
  • the second type of robot 520 can perform operations such as taking out the target material from the target material container 811.
  • FIG. 810 in the first area is responsible for taking out the target material container 811 in which the target material required by the target processing station is located from the target inventory container 511, and removing the target material
  • the container 811 is transported to the preset position of the second type robot 520 in the first area.
  • the preset position can be appropriately adjusted according to the actual position of the second type robot 520, as
  • the control server may also control the first control instruction through the first control instruction.
  • the second type robot 520 in one area takes out the target material from the target material container 811 and distributes the taken out target material to the robot 530 in the second area.
  • the target material contained in the target material container is provided with a readable mark, such as a two-dimensional code.
  • the control server may control the second type robot 520 in the first area .
  • the readable mark of the target material contained in the target material container 811 is recognized by the target recognition component located on the second type robot 520, so as to take out the target material from the target material container 811.
  • an alternative example is provided to control the second type robot in the first area, take out the target material from the target material container, and allocate the taken out target material to the second area
  • the robot may include the following steps S70212 to S70214.
  • control server controls the grabbing component of the second type of robot to grab the target material from the target material container, and
  • the grabbing method shown in Figure 3 grabs the target material from the target inventory container, and the other operation methods are the same or similar.
  • controlling the second type robot in the first area taking out the target material from the target material container, and assigning the taken out target material to the second area
  • the robot can include the following steps S70222 to S70224.
  • FIG. 10 is a schematic flowchart of another method for controlling a robot in the first area to transport target materials provided in an embodiment of the present application. This embodiment is described on the basis of the foregoing embodiment. This embodiment may be combined with one or more of the foregoing embodiments. Combine the solutions in each embodiment. As shown in FIG. 10, the method for controlling the robot in the first area to transport target materials in the embodiment of the present application may include steps S10010 to S10020.
  • the material container can be placed directly on the compartment of the storage container, or the material container can be placed on the storage container, and the material container can contain the material.
  • the target material can be located on the compartment of the target inventory container or in the target material container on the target inventory container.
  • FIG. 11 is another schematic diagram of the transportation of target materials by the robot in the first area provided in the embodiment of the present application.
  • the control server can control the fourth type robot 1110 in the first area through the first control instruction.
  • the target material 1111 is taken out from the target storage container 511 in a region, and the target material 1111 is transported to a preset position at the junction of the entrance and exit of the first region and the second region.
  • An optional example provided on the basis of the technical solutions of the above multiple embodiments is to control the fourth type of robot in the first area to take out the target material from the target storage container in the first area, and to transport the target material to the first area.
  • the preset position at the junction of the entrance and exit of the first area and the second area may include the following steps S100112 to S100114.
  • S100114 Control the grasping components of the fourth type of robot, place the captured target material on the preset material carrier of the fourth type of robot, and transport it to the preset position of the entrance and exit of the first area and the second area .
  • Fig. 12 is a schematic structural diagram of a fourth type of robot located in the first area provided in an embodiment of the present application.
  • the fourth type of robot may be provided with a grasping component 1202.
  • the grasping component 1202 may include a mechanical arm, and a mechanical grip or suction cup may be provided on the mechanical arm.
  • the fourth type robot 1110 in the first area can grab the target material from the target inventory container or the target material container located in the target inventory container through the grabbing component 1202.
  • the fourth type robot 1110 in the first area may also be provided with material carriers for containing materials, for example, a first material carrier 12011, a second material carrier 12012, a third material carrier 12013, and a fourth material carrier 12014.
  • the grabbing component 1202 can place the grabbed target material 1111 on the preset material carrier of the fourth type robot 1110 And transport the target material 1111 to a preset position at the junction of the entrance and exit of the first area and the second area.
  • the type of the fourth type of robot may not be limited to the robot shown in FIG. 12, as long as the fourth type of robot can realize the function of grasping and accommodating the target material.
  • the target material may be provided with a readable mark, such as a two-dimensional code.
  • the control server recognizes the readable mark of the target material on the target inventory container through the target recognition component located on the fourth type robot, and grabs the target inventory container in the first area by controlling the grabbing component of the fourth type robot Target material.
  • the fourth type of robot in the first area is responsible for taking out the target material required by the target processing station from the target storage container 511 or the material container located in the target storage container 511, and the removed target
  • the material is placed on the preset material carrier of the fourth type of robot and transported to the preset position at the junction of the entrance and exit of the first area and the second area.
  • the preset position at the junction of the entrance and exit of the first area and the second area can be adjusted appropriately according to the actual situation, as long as the fourth type robot in the first area can perform normal operations on the target material at the preset position That is, for example, as long as it can be ensured that the fourth type of robot in the first area can distribute the target material to the robot in the second area.
  • Controlling the fourth type of robot in the first area and allocating the target material to the robot in the second area may include the following steps S100212 to S100214.
  • Controlling the fourth type of robot in the first area and allocating the target material to the robot in the second area may include the following steps S100222 to S100224.
  • the robot that chooses which way to transport the target material in the first area to the second area can be adaptively selected according to the actual situation of the target material. For example, if the target processing station requires a large amount of target materials and they are scattered on the target inventory container, the method shown in Figure 3 can be used; if the target processing station requires a large amount of target materials , And centrally placed in one or more material containers of the target inventory container, the method shown in Figure 7 can be used; if the target material demand required by the target processing station is small and only a few are needed, then you can Use the method shown in Figure 10.
  • S2020 Send a second control instruction to the robot in the second area to control the robot in the second area to transport the target material to the target processing station.
  • the control server can send the The robot in the second area sends a second control instruction, and the robot in the second area is controlled by the second control instruction to transport the target material to the target processing station.
  • the robot in the second area may be provided with a preset collection container carrier for accommodating the collection container.
  • the target collection container can be placed on the preset collection container carrier, and the target collection container can contain the target material.
  • the robots in the second area can be on standby at the entrance and exit junction of the first area and the second area.
  • the control server sends the second control instruction to the robot located in the second area, it can directly control the robot in the second area at the junction of the entrance and exit of the first area and the second area to transport the target material to the target processing station .
  • the embodiment of the application provides a material handling solution, including: in response to a target material acquisition request of a target processing station, sending a first control instruction to a robot located in a first area, controlling the robot in the first area, The target material in one area is transported to the robot in the second area; a second control instruction is sent to the robot in the second area to control the robot in the second area to transport the target material to the target processing station.
  • a material handling solution including: in response to a target material acquisition request of a target processing station, sending a first control instruction to a robot located in a first area, controlling the robot in the first area, The target material in one area is transported to the robot in the second area; a second control instruction is sent to the robot in the second area to control the robot in the second area to transport the target material to the target processing station.
  • the robot located in the second area may further include: triggering to trigger the direction when it is detected that the target aggregate container containing the target material meets the preset handling conditions
  • the robot located in the second area sends a second control instruction operation, and the driving channel at the junction of the first area and the second area is lifted to the robot in the second area.
  • the control server controls the robots in the first area, and when the target materials in the first area are transported to the robots in the second area, the target materials can be put into the target collection container and placed
  • the target aggregate container with the target material is allocated to the robot in the second area.
  • the control server first detects that the target collection container containing the target material meets the preset handling conditions. If it is detected that the target collection container containing the target material satisfies the preset handling condition, the operation of sending a second control instruction to the robot in the second area is triggered, and the second control instruction is sent to the robot in the second area.
  • the handling condition is that the target aggregate container containing the target material is full of materials; or, the target material required by the target processing station has been collected in the target aggregate container.
  • a traffic control area may be set at the junction area of the first area and the second area.
  • the traffic control area can be used as a driving channel for robots and a walking channel for workers.
  • a traffic control strategy can be set up. If it is detected that the target aggregate container containing the target material meets the preset handling conditions, the driving channel at the junction of the first area and the second area is lifted from the robot in the second area, and pedestrians are prohibited from passing through the traffic control area.
  • the driving channel at the junction of the first area and the second area is lifted from the workers, and time is allowed for the workers to pass.
  • FIG. 13 is a schematic structural diagram of a material handling device provided in an embodiment of the present application. This embodiment can be applied to a situation where materials are transported between different areas.
  • the device can be implemented in software and/or hardware, and integrated in any control server with network communication functions.
  • the material handling device of the embodiment of the present application may include: a first control module 1301 and a second control module 1302.
  • the first control module 1301 is configured to respond to the target material acquisition request of the target processing station, send a first control instruction to the robot located in the first area, control the robot in the first area, and transfer the first area The target material is transported to the robot in the second area;
  • the second control module 1302 is configured to send a second control instruction to the robot in the second area to control the robot in the second area to transport the target material to the Target processing station.
  • the first control module 1301 may include: a first control unit configured to control the first-type robot in the first area, and control the first area
  • the target inventory container of the first area is moved to the preset position of the second type robot; the target material is placed on the target inventory container; the second control unit is configured to control the second type of the first area
  • the robot takes out the target material from the target inventory container, and distributes the taken out target material to the robot in the second area.
  • the second control unit is configured to: control the grabbing assembly of the second type of robot, grab the target material from the target inventory container or Grasp the target material in the target material container on the target inventory container; control the grasping component of the second type robot, put the grasped target material into the target aggregate container, and place the target aggregate
  • the container is placed on the preset material carrier of the robot in the second area, and the target collection container is preset at the junction of the entrance and exit of the first area and the second area.
  • the second control unit is configured to: control the grabbing assembly of the second type of robot to directly grab the target material from the target inventory container or Grab the target material from the target material container on the target inventory container; control the second-type robot to put the grabbed target material into the target collection container; the target collection container is preset in the first The preset material carrier for the second type of robot.
  • the first control module 1301 may include: a third control unit configured to control a third type of robot in the first area, from the first area Take out the target material container from the target storage container of, and transport the taken out target material container to the preset position of the second type robot in the first area; the target material container contains the target material; the fourth control unit , Configured to control the second-type robot in the first area, take out the target material from the target material container, and allocate the taken-out target material to the robot in the second area.
  • the third control unit is configured to control the third-type robot in the first area in the following manner, from the target inventory container in the first area Taking out the target material container: using the gripping assembly of the third type robot, gripping the target material container from the target inventory container in the first area.
  • the fourth control unit is configured to: control the grabbing assembly of the second type robot to grab the target material from the target material container; control The grasping component of the second type robot puts the grasped target material into the target collecting container, and placing the target collecting container on the preset material carrier of the robot in the second area; The target aggregate container is preset at the junction of the entrance and exit of the first area and the second area.
  • the fourth control unit is configured to: control the grabbing assembly of the second type of robot to grab the target material from the target material container; control The grabbing component of the second type robot puts the grabbed target material into a target collection container; the target collection container is preset in a preset material carrier of the second type robot.
  • the first control module 1301 may include: a fifth control unit configured to control a fourth type of robot in the first area, from the first area Take out the target material from the target storage container of, and transport the target material to a preset position at the junction of the entrance and exit of the first area and the second area; the target material is placed on the target storage container; sixth The control unit is configured to control the fourth type of robots in the first area, and allocate the target material to the robots in the second area.
  • the fifth control unit is configured to: control the grabbing component of the fourth type of robot to grab the target inventory container in the first area Target material; control the grasping component of the fourth type of robot, place the grasped target material on the preset material carrier of the fourth type of robot, and transport it to the first area and the second The preset position at the junction of the entrance and exit of the area.
  • the sixth control unit is configured to: control the grasping component of the fourth type of robot, from the preset material carrier of the fourth type of robot Grabbing and placing the target material; controlling the grasping component of the fourth type of robot, placing the grasped target material into a target collecting container, and placing the target collecting container in the second area of the robot
  • the preset material carrier; the target collection container is preset at the junction of the entrance and exit of the first area and the second area.
  • the sixth control unit is configured to: control the grasping component of the fourth type of robot, from the preset material carrier of the fourth type of robot Grabbing and placing the target material; controlling the grasping component of the fourth type robot, and placing the grasped target material into the target collection container; the target collection container is preset in the preset of the second type robot Set up the material carrier.
  • the robot in the second area is on standby at the entrance and exit junction of the first area and the second area.
  • the device may further include: a channel unblocking module 1303 configured to detect that the target aggregate container containing the target material meets the preset handling conditions In this case, triggering the operation of sending a second control instruction to the robot located in the second area, and unbanning the travel channel at the junction of the first area and the second area to the robot in the second area.
  • a channel unblocking module 1303 configured to detect that the target aggregate container containing the target material meets the preset handling conditions In this case, triggering the operation of sending a second control instruction to the robot located in the second area, and unbanning the travel channel at the junction of the first area and the second area to the robot in the second area.
  • the handling condition is that the target collection container is full of materials; or, the target material has been collected in the target collection container.
  • the material handling device provided in the embodiment of the present application can execute the material handling method provided in any embodiment of the present application, and has functional modules and beneficial effects corresponding to the implementation of the material handling method.
  • FIG. 14 is a schematic structural diagram of a material handling system provided in an embodiment of the present application. This embodiment can be applied to the case of material handling between different areas.
  • the material handling system in the embodiment of the present application includes: a control server 1401, a robot 1402 located in a first area, a robot 1403 located in a second area, and a storage container 1404; wherein a material container and/or material is placed on the storage container 1404;
  • the material container contains materials;
  • the control server 1401 is configured to respond to the target material acquisition request of the target processing station, send a first control instruction to the robot 1402 located in the first area, and send a second control instruction to the robot 1403 located in the second area Control instructions;
  • the robot 1402 in the first area is configured to respond to the first control instruction to transport the target material in the first area to the robot 1403 in the second area;
  • the robot 1403 in the second area is configured to respond to the second control instruction to transfer the target material Transport to the target processing station.
  • the number of inventory containers 1404 in this embodiment is not limited, and it is specifically determined according to actual conditions.
  • the control server 1401, the robot 1402 in the first area, and the robot 1403 in the second area in this embodiment can adopt the material handling methods of the above-mentioned multiple embodiments.
  • the specific process please refer to the material handling method mentioned above. Repeat.
  • FIG. 15 is a schematic structural diagram of a control server provided in an embodiment of the present application.
  • FIG. 15 shows a block diagram of an exemplary control server 1512 suitable for implementing embodiments of the present application.
  • the control server 1512 shown in FIG. 15 is only an example, and should not bring any limitation to the function and scope of use of the embodiments of the present application.
  • control server 1512 is represented in the form of a general-purpose computing device.
  • the components of the control server 1512 may include, but are not limited to: one or more processors 1516, a system memory 1528, and a bus 1518 connecting different system components (including the system memory 1528 and the processor 1516).
  • the bus 1518 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure among multiple bus structures.
  • these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, MicroChannel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (Video Electronics Standards Association) , VESA) local bus and Peripheral Component Interconnect (PCI) bus.
  • the control server 1512 includes a variety of computer system readable media. These media may be any available media that can be accessed by the control server 1512, including volatile and non-volatile media, removable and non-removable media.
  • the system memory 1528 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) 1530 and/or a cache memory 1532.
  • the control server 1512 may include other removable/non-removable, volatile/nonvolatile computer system storage media.
  • the storage system 1534 can be used to read and write non-removable, non-volatile magnetic media (not shown in FIG. 15 and commonly referred to as "hard drives").
  • a disk drive for reading and writing to a removable non-volatile disk such as a "floppy disk”
  • a removable non-volatile disk such as a compact optical disk
  • each drive can be connected to the bus 1518 through one or more data media interfaces.
  • the memory 1528 may include at least one program product, and the program product has a set (for example, at least one) program modules, and these program modules are configured to perform the functions of multiple embodiments of the present application.
  • a program/utility tool 1540 having a set of (at least one) program module 1542 may be stored in, for example, the memory 1528.
  • Such program module 1542 includes but is not limited to an operating system, one or more application programs, other program modules, and program data Each of these examples or some combination may include the realization of a network environment.
  • the program module 1542 generally executes the functions and/or methods in the embodiments described in this application.
  • the control server 1512 may also communicate with one or more external devices 1514 (such as keyboards, pointing devices, displays 1524, etc.), and may also communicate with one or more devices that enable users to interact with the control server 1512, and/or communicate with
  • the control server 1512 can communicate with any device (such as a network card, modem, etc.) that communicates with one or more other computing devices. This communication can be performed through an input/output (I/O) interface 1522.
  • the control server 1512 may also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and/or a public network, such as the Internet) through a network adapter 1520. As shown in FIG.
  • the network adapter 1520 communicates with other modules of the control server 1512 through the bus 1518. It should be understood that although not shown in FIG. 15, other hardware and/or software modules can be used in conjunction with the control server 1512, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Drives, RAID) systems, tape drives, and data backup storage systems.
  • the processor 1516 executes a variety of functional applications and data processing by running programs stored in the system memory 1528, for example, to implement the material handling method provided in the embodiment of the present application, the method includes: responding to the target processing station To obtain a target material request, send a first control instruction to the robot located in the first area, control the robot in the first area, and transport the target material in the first area to the robot in the second area; The robot sends a second control instruction to control the robot in the second area to transport the target material to the target processing station.
  • processor can also implement the technical solutions in the material handling method provided in any embodiment of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored.
  • the material handling method as provided in the embodiment of the present application is realized, and the method includes: responding to the target Process the target material acquisition request of the workstation, send a first control instruction to the robot in the first area, control the robot in the first area, and transport the target material in the first area to the robot in the second area;
  • the robot in the second area sends a second control instruction to control the robot in the second area to transport the target material to the target processing station.
  • a storage medium containing computer-executable instructions provided in the embodiments of the present application is not limited to the operation of the material handling method described above, and can also execute the operations provided in any embodiment of the present application. Related operations in material handling methods, with corresponding functions and beneficial effects.
  • the computer storage media in the embodiments of the present application may adopt any combination of one or more computer-readable media.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above.
  • Examples of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard drives, RAM, Read-Only Memory (ROM), erasable Erasable Programmable Read-Only Memory (EPROM) or flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination of the above.
  • the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and the computer-readable signal medium carries computer-readable program code. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the above.
  • any suitable medium including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the above.
  • the computer program code used to perform the operations of this application can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages—such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer may be connected to the user's computer through any kind of network including LAN or WAN, or may be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
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Abstract

L'invention concerne un procédé, un dispositif et un système de gestion de matériau, un serveur et un support d'enregistrement. Le procédé consiste : à envoyer, en réponse à une requête d'acquisition de matériau cible d'une station de traitement cible, une première instruction de commande à un robot dans une première région (100) pour amener un robot dans la première région (100) à mener le matériau cible dans la première région (100) jusqu'à un robot dans une seconde région (110) ; et à envoyer une seconde instruction de commande au robot dans la seconde région (110) pour amener le robot dans la seconde région (110) à mener le matériau cible jusqu'à la station de traitement cible.
PCT/CN2019/105397 2019-02-02 2019-09-11 Procédé, dispositif et système de gestion de matériau, serveur et support d'enregistrement WO2020155631A1 (fr)

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CN112573052B (zh) * 2019-09-27 2022-05-24 江苏华章物流科技股份有限公司 自动化存取系统以及存、取方法
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