CN110615223B - Box body adjusting device and method - Google Patents
Box body adjusting device and method Download PDFInfo
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- CN110615223B CN110615223B CN201911001074.6A CN201911001074A CN110615223B CN 110615223 B CN110615223 B CN 110615223B CN 201911001074 A CN201911001074 A CN 201911001074A CN 110615223 B CN110615223 B CN 110615223B
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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
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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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
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The disclosure provides a box body taking device and a box body taking method. Wherein the box retrieval device comprises a data acquisition module configured to acquire sequential order of the shuttle carsThe walking distance delta l from the tail end of the previous box body of the front box body to the initial end of the current box body, from the initial end of the current box body to the tail end of the current box body and from the tail end of the current box body to the initial end of the next box body1X and Δ l2The vertical distance delta y between the shuttle car and the current box starting end1And the vertical distance delta y from the current box body tail end2(ii) a A controller configured to determine Δ y1＝Δy2＝y，l0‑Δl≤Δl1≤l0，l0‑Δl≤Δl2≤l0If yes, judging that the current box body posture is normal and the box body width is x, directly controlling the shuttle to a positioning hole and selecting a pallet fork matched with the box body width to call the current box body; otherwise, judging that the current box body posture is abnormal; wherein l0And in order to preset the distance between the boxes, delta l is a preset offset error, and y is a preset distance threshold value between the shuttle and the boxes.
Description
Technical Field
The disclosure belongs to the field of box body transferring, and particularly relates to a box body transferring device and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The bins on the warehouse rack may be subject to deviations or tilts in bin placement from the intended storage position as a result of the storage process. The inventor finds that the existing automatic goods taking is based on the expected storage position to take the box body, the displacement and inclination angle of the box body are not considered, the posture of the box body cannot be accurately identified, when the box body is displaced or inclined, the box body can be damaged in the goods taking process, the box body cannot be accurately taken, and the box body taking efficiency is reduced.
Disclosure of Invention
In order to solve the above problems, a first aspect of the present disclosure provides a box body retrieval apparatus that determines a state of a box body before retrieving the box body, and directly controls a shuttle to a positioning hole and retrieves the box body when a posture of the box body is normal; if the box gesture is unusual, select and transfer the box scheme with current box gesture assorted and transfer current box, avoided getting the damage of goods in-process to the box, improved the efficiency that the box was transferred.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
a case transferring apparatus comprising:
a data acquisition module configured to acquire a walking distance delta l of the shuttle vehicle from a previous box tail end to a current box start end, from the current box start end to the tail end, and from the current box tail end to a next box start end of the current box in sequence1X and Δ l2The vertical distance delta y between the shuttle car and the current box starting end1And the vertical distance delta y from the current box body tail end2；
A controller configured to:
judgment of Deltay1＝Δy2＝y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0If yes, judging that the current box body posture is normal and the box body width is x, directly controlling the shuttle to a positioning hole and selecting a pallet fork matched with the box body width to call the current box body; otherwise, judging that the current box body posture is abnormal, and screening out a calling box body scheme matched with the current box body posture to call the current box body; wherein l0And in order to preset the distance between the boxes, delta l is a preset offset error, and y is a preset distance threshold value between the shuttle and the boxes.
As an embodiment, the controller is further configured to:
according to delta y when the current box body is abnormal in posture1≠Δy2Whether the current box body is inclined or not is judged by judging whether the current box body is inclined, and if the current box body is inclined, the output box body calling scheme is as follows: the width and the inclination angle of the box body are obtained according to the Pythagorean theoremAdjusting the posture of the box body until the inclination angle is equal to 0, controlling the shuttle car to the central shaft of the current box body, and selecting a pallet fork matched with the width of the box body to call the current box body; if the box body is not inclined, the output scheme of the calling box body is as follows: and controlling the shuttle car to the central shaft of the current box body and selecting a fork matched with the width of the box body to call the current box body.
The technical scheme has the advantages that the reason for the abnormal posture of the box body is determined by judging the relation between the data transmitted by the distance sensor and the displacement sensor, when the box body is inclined to cause the abnormal posture of the box body, the width and the inclination angle of the box body are calculated to adjust the box body in a pertinence manner, and finally the accuracy and the efficiency of transferring the box body are improved.
As an embodiment, in the state that the current box body posture is abnormal, when the delta y1＝Δy2＝y，Δl1And Δ l2Any one of less than l0When the box body is subjected to the displacement left and right, judging that the current box body is only subjected to the displacement left and right, wherein the width of the box body is x;
controlling the shuttle to move in the left and right directions by | Delta l1-Δl2And l, enabling the shuttle car to be located at the central shaft of the current box body and selecting a pallet fork matched with the width of the box body to call the current box body.
The technical scheme has the advantages that the reason for the abnormal posture of the box body is determined by judging the relation of data transmitted by the distance sensor and the displacement sensor, and when the box body has abnormal posture due to left and right displacement, the box body is subjected to delta l1And Δ l2Whether or not any of them is less than l0And delta l, determining that the box body is biased to the left or the right, so that the box body can be adjusted in a targeted manner, and finally the accuracy and the efficiency of box body adjustment are improved.
As an embodiment, the controller is further configured to:
when the current box body posture is abnormal, the current box body posture is delta y1＝Δy2≠y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0When the box body is in a front-back displacement state, the box body is judged to have a width ofx；
And controlling the shuttle to the positioning hole and selecting a fork matched with the width of the box body to call the current box body.
The technical scheme has the advantages that the reason for the abnormal posture of the box body is determined by judging the relation of data transmitted by the distance sensor and the displacement sensor, and when the posture of the box body is abnormal due to the front and back displacement of the box body, the abnormal posture is determined according to the delta y1And Δ y2The two are compared with y, and the box body is determined to be inclined to the front or the back, so that the box body can be adjusted in a targeted manner, and finally the accuracy and the efficiency of box body taking are improved.
As an embodiment, the data acquisition module comprises a displacement sensor, the displacement sensor is mounted on the shuttle car and is used for acquiring the walking distance of the shuttle car from the tail end of the previous box of the current box to the start end of the current box, from the start end to the tail end of the current box and from the tail end of the current box to the start end of the next box in sequence;
and the distance sensor is used for detecting the vertical distance between the shuttle car and the start end of the current box body and the vertical distance between the shuttle car and the tail end of the current box body respectively.
As an embodiment, the distance sensor is further used for acquiring vertical distance data of the shuttle vehicle in the process of moving from the box body a to the box body C in real time;
the data acquisition module is further configured to:
recording the current box as box B, the previous box as box A, the next box as box C, the tail end of box A as P1, the start and tail ends of box B as P2 and P3, respectively, and the start end of box C as P4; starting with a preset position of the shuttle vehicle, which is opposite to the box body A, as an original point O, and taking a traveling distance from the preset position of the box body A to the box body C as an X axis; the method comprises the steps that a distance sensor obtains vertical distance data of a shuttle vehicle in the process of moving from a box body A to a box body C in real time to serve as a Y axis;
according to the difference of data acquired by the distance sensor when the shuttle car passes through the process and the distance between the box body and the box body, the coordinates of the P4 point, the P3 point, the P2 point and the P1 point on the Y axis are determined by utilizing a filtering consistency fitting algorithmDetermining the corresponding abscissa values of the point P4, the point P3, the point P2 and the point P1 on the X axis, and finally obtaining delta l1X and Δ l2。
In order to solve the above problem, a second aspect of the present disclosure provides a box transferring method, which considers the situations of box displacement and inclination angle, avoids the situation of box damage in the goods transferring process, can accurately transfer the box, and improves the box transferring efficiency.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
a box body retrieval method, comprising:
obtaining the walking distance delta l of the shuttle car from the tail end of the previous box body of the current box body to the head end of the current box body, from the head end to the tail end of the current box body and from the tail end of the current box body to the head end of the next box body in sequence1X and Δ l2The vertical distance delta y between the shuttle car and the current box starting end1And the vertical distance delta y from the current box body tail end2；
Judgment of Deltay1＝Δy2＝y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0If yes, judging that the current box body posture is normal and the box body width is x, directly controlling the shuttle to a positioning hole and selecting a pallet fork matched with the box body width to call the current box body; otherwise, judging that the current box body posture is abnormal, and screening out a calling box body scheme matched with the current box body posture to call the current box body; wherein l0And in order to preset the distance between the boxes, delta l is a preset offset error, and y is a preset distance threshold value between the shuttle and the boxes.
As an embodiment, when the current box body is abnormal in posture, the method is based on the delta y1≠Δy2Whether the current box body is inclined or not is judged by judging whether the current box body is inclined, and if the current box body is inclined, the output box body calling scheme is as follows: solving the width and the inclination angle of the box body according to the pythagorean theorem, adjusting the posture of the box body until the inclination angle is equal to 0, controlling the shuttle to reach the central shaft of the current box body, and selecting a fork matched with the width of the box body to call the current box body; if no inclination occursAnd oblique, the output calling box scheme is as follows: and controlling the shuttle car to the central shaft of the current box body and selecting a fork matched with the width of the box body to call the current box body.
The technical scheme has the advantages that the reason for the abnormal posture of the box body is determined by judging the relation between the data transmitted by the distance sensor and the displacement sensor, when the box body is inclined to cause the abnormal posture of the box body, the width and the inclination angle of the box body are calculated to adjust the box body in a pertinence manner, and finally the accuracy and the efficiency of transferring the box body are improved.
As an embodiment, in the state that the current box body posture is abnormal, when the delta y1＝Δy2＝y，Δl1And Δ l2Any one of less than l0When the box body is subjected to the displacement left and right, judging that the current box body is only subjected to the displacement left and right, wherein the width of the box body is x;
controlling the shuttle to move in the left and right directions by | Delta l1-Δl2And l, enabling the shuttle car to be located at the central shaft of the current box body and selecting a pallet fork matched with the width of the box body to call the current box body.
As an embodiment, in the state that the current box body posture is abnormal, when the delta y1＝Δy2≠y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0Judging that the current box body only moves back and forth, wherein the width of the box body is x;
and controlling the shuttle to the positioning hole and selecting a fork matched with the width of the box body to call the current box body.
As an embodiment, the traveling distance Δ l of the shuttle car from the end of the previous box to the start of the current box, from the start to the end of the current box, and from the end of the current box to the start of the next box in sequence is obtained1X and Δ l2The process comprises the following steps:
acquiring vertical distance data of the shuttle vehicle in the process of moving from the box body A to the box body C in real time; recording the current box as box B, the previous box as box A, the next box as box C, the tail end of box A as P1, the start and tail ends of box B as P2 and P3, respectively, and the start end of box C as P4; starting with a preset position of the shuttle vehicle, which is opposite to the box body A, as an original point O, and taking a traveling distance from the preset position of the box body A to the box body C as an X axis; the method comprises the steps that a distance sensor obtains vertical distance data of a shuttle vehicle in the process of moving from a box body A to a box body C in real time to serve as a Y axis;
according to the fact that when the shuttle car passes through the process and the distance between the box body and the box body is different, the coordinate points of the P4 point, the P3 point, the P2 point and the P1 point on the Y axis are determined by using a filtering consistency fitting algorithm, the corresponding abscissa values of the P4 point, the P3 point, the P2 point and the P1 point on the X axis are further determined, and finally delta l is obtained1X and Δ l2。
The beneficial effects of this disclosure are:
the method comprises the steps that the state of a box body is judged by obtaining the walking distance from the shuttle to the head end of the current box body from the tail end of the previous box body of the current box body to the head end of the current box body, the walking distance from the tail end of the current box body to the head end of the next box body and the distance from the shuttle to the head end of the current box body and the distance from the shuttle to the tail end of the current box body respectively, and when the posture of the box body is normal, the shuttle is directly controlled to a positioning hole and a fork matched with the width of the box body is selected to call the current; if the box gesture is unusual, select and transfer the box scheme with current box gesture assorted and transfer current box, avoided getting the damage of goods in-process to the box, improved the efficiency that the box was transferred.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural diagram of a box body taking device according to an embodiment of the disclosure.
Fig. 2 is a schematic diagram of a normal case state according to an embodiment of the disclosure.
FIG. 3 is a schematic diagram of a tank offset to the left in an embodiment of the disclosure.
FIG. 4 is a schematic illustration of a case being rearwardly deflected according to an embodiment of the disclosure.
FIG. 5 is a schematic illustration of a case tilt according to an embodiment of the disclosure.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Example 1
Fig. 1 shows a schematic structural diagram of a box body taking device according to the embodiment.
As shown in fig. 1, the box retrieving device of the present embodiment includes a data collecting module and a controller.
It should be noted that the box body of the present embodiment includes, but is not limited to, a bin and a carton.
A data acquisition module configured to acquire a walking distance delta l of the shuttle vehicle from a previous box tail end to a current box start end, from the current box start end to the tail end, and from the current box tail end to a next box start end of the current box in sequence1X and Δ l2The vertical distance delta y between the shuttle car and the current box starting end1And the vertical distance delta y from the current box body tail end2。
In this embodiment, the data acquisition module includes a displacement sensor and a distance sensor.
Specifically, as shown in fig. 2 to 5, the displacement sensor is configured to detect the traveling distance Δ l of the shuttle vehicle from the previous box a end P1 point of the current box B to the current box B start point P2, the current box B start point P2 point to the end P3 point, the current box B end P3 point to the next box C start point P4 point in sequence1X and Δ l2。
In one embodiment, the displacement sensor is an encoder, and the encoder is mounted on an output shaft of a driving motor of the shuttle car.
The encoder can be a photoelectric encoder, and the model of the photoelectric encoder can be specifically selected by a person in the art according to specific requirements.
The technical scheme has the advantages that the encoder has the characteristics of no contact and no abrasion, the service life is long, the interface forms are rich, and the price is reasonable.
It should be noted that the displacement sensor may be implemented by other existing displacement sensor types.
In a specific implementation, the distance sensors are configured to detect the distances delta y between the shuttle cars and the starting point P2 of the current box B respectively1And the distance delta y from the point P3 at the tail end of the current box B2。
In one embodiment, the distance sensor is a laser distance measuring sensor mounted on the side of the shuttle opposite the housing.
The technical scheme has the advantages that the laser ranging sensor is simple in principle and structure; the method is generally used for measuring short-range distances below 2000mm, and has higher precision, and the maximum precision can reach 1 mm.
It should be noted that the distance sensor may be implemented by using other existing distance sensor types.
In specific implementation, the distance sensor is further used for acquiring vertical distance data of the shuttle vehicle in the process of moving from the box body A to the box body C in real time;
the data acquisition module is further configured to:
recording the current box as box B, the previous box as box A, the next box as box C, the tail end of box A as P1, the start and tail ends of box B as P2 and P3, respectively, and the start end of box C as P4; starting with a preset position of the shuttle vehicle, which is opposite to the box body A, as an original point O, and taking a traveling distance from the preset position of the box body A to the box body C as an X axis; the method comprises the steps that a distance sensor obtains vertical distance data of a shuttle vehicle in the process of moving from a box body A to a box body C in real time to serve as a Y axis;
according to the fact that when the shuttle car passes through the box body and the box body space, data obtained by the distance sensors are different, coordinate points of a P4 point, a P3 point, a P2 point and a P1 point on the Y axis are determined by using a filtering consistency fitting algorithm, then the coordinate values of a P4 point, a P3 point, a P2 point and a P1 point on the X axis are determined to correspond to the abscissa values, and finally delta l is obtained1X and Δ l2。
Specifically, the process of determining the abscissa value of the P4 point on the X axis by using the filter consistency fitting algorithm is as follows:
determining the position of the shuttle vehicle for stopping, wherein the stopping position is positioned at the right side of the point P4, and determining the abscissa of the stopping position of the shuttle vehicle on the X axis; taking a preset number (for example, 10) of data points of the shuttle car stopping position from the abscissa of the X axis to the left, and solving and filtering abnormal data points (wherein the abnormal data points are numbers of which the difference value with the Y axis ordinate value of the selected data point is greater than a preset value)Data point) of the preset number of data points, and the average value P4 of the Y-axis data corresponding to the preset number of data pointsave(ii) a P4aveSuperposed with preset fitting data to obtain P4max(ii) a Whether the ordinate values of a preset number (for example, 10) of data points continuing leftward from the shuttle stop position are all greater than P4maxIf yes, determining that the abscissa corresponding to the left preset number (for example, 10) of data points of the shuttle vehicle stop position is the abscissa corresponding to the point P4 on the X axis.
Wherein, the sampling data is corresponding sampling data points recorded according to the displacement sensor and the distance sensor, for example: the displacement sensor moves 1mm to record data of the distance sensor once, and 900 groups of data which are stopped finally are recorded when the distance sensor stops.
It can be understood that the process of determining coordinate points of the P3 point, the P2 point and the P1 point on the Y axis by using the filter consistency fitting algorithm and further determining the abscissa values of the P3 point, the P2 point and the P1 point on the X axis is the same as the process of solving the abscissa values of the P4 point on the X axis.
In other embodiments, a 2D sensor, such as a 360 degree lidar, may also be used to measure the separation of the lidar boxes in the data acquisition module. The specific process comprises the following steps:
after the shuttle vehicle stops, starting a 360-degree laser ranging radar, and recording the current 800 groups of data;
firstly, 200 groups of data from 90 degrees to 180 degrees on the left are taken;
calculating the points P1, P2, P3 and P4 of the edges of the box according to the distance and the included angle between the laser and the box;
obtaining distances from P1, P2, P3 and P4 to the laser radar, including spacing and angle;
and then according to a triangular formula, calculating the linear distance from the distance sensor (such as laser) to the box body and the distance between the box bodies.
In other embodiments, in the data acquisition module, a 3D sensor or a camera may also be used to acquire images including the box a, the box B, and the box C, and the shuttle cars obtained by the existing image processing method sequentially go from the end of the previous box to the beginning of the current box, from the beginning to the end of the current box, and from the end to the end of the current box,The walking distance delta l from the tail end of the current box body to the beginning end of the next box body1X and Δ l2。
In a specific implementation, a controller configured to:
judgment of Deltay1＝Δy2＝y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0If the current box body posture is normal and the box body width is x, directly controlling the shuttle car to a positioning hole and selecting a pallet fork matched with the box body width to call the current box body, wherein the pallet fork is shown in fig. 2; otherwise, judging that the current box body posture is abnormal, and screening out a calling box body scheme matched with the current box body posture to call the current box body; wherein l0And in order to preset the distance between the boxes, delta l is a preset offset error, and y is a preset distance threshold value between the shuttle and the boxes.
In this embodiment, the mechanism used to adjust the attitude of the container may be a fork that retrieves the container, the fork being mounted on the shuttle, the fork being connected to the controller.
In other embodiments, the mechanism for adjusting the attitude of the box may be a robot connected to the controller, or other mechanism that communicates with the controller and has the function of adjusting the attitude of the box.
As an embodiment, the controller is further configured to:
when the current box body posture is abnormal, the current box body posture is delta y1＝Δy2＝y，Δl1And Δ l2Any one of less than l0When the box body is subjected to the displacement left and right, judging that the current box body is only subjected to the displacement left and right, wherein the width of the box body is x;
controlling the shuttle to move in the left and right directions by | Delta l1-Δl2And l, enabling the shuttle car to be located at the central shaft of the current box body and selecting a pallet fork matched with the width of the box body to call the current box body.
For example: when Δ l2Less than l0At- Δ l, indicating a box shift to the right, according to Δ l1、Δl2And x to determine the central axis of the current box body, and controlling the shuttle to be positioned at the central axis of the current box bodyAnd selecting a pallet fork matched with the width of the box body to call the current box body.
When Δ l is shown in FIG. 31Less than l0Δ l, indicating a leftward excursion of the tank, according to Δ l1、Δl2And x, determining the central axis of the current box body, controlling the shuttle car to be positioned at the central axis of the current box body and selecting a fork matched with the width of the box body to call the current box body.
The above technical solution has the advantages that the cause of the abnormal posture of the box body is determined by judging the relationship between the data transmitted by the distance sensor and the data transmitted by the displacement sensor, and when the posture of the box body is abnormal due to the left and right displacement of the box body, the abnormal posture is determined according to the delta l1And Δ l2Whether or not any of them is less than l0And delta l, determining that the box body is biased to the left or the right, so that the box body can be adjusted in a targeted manner, and finally the accuracy and the efficiency of box body adjustment are improved.
As another embodiment, the controller is further configured to:
when the current box body posture is abnormal, the current box body posture is delta y1＝Δy2≠y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0Judging that the current box body only moves back and forth, wherein the width of the box body is x;
and controlling the shuttle to the positioning hole and selecting a fork matched with the width of the box body to call the current box body.
For example: when Δ y1<y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0When the box body is deviated forwards, the box body is explained to deviate forwards;
when Δ y is shown in FIG. 41>y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0When the box body is deviated backwards, delta y is calculated1And controlling the shuttle car to the positioning hole by the difference value delta y of y, selecting a fork matched with the width of the box body, adjusting the extension delta y of the fork forwards, and calling the current box body.
Produced by the technical schemeThe advantage is that the abnormal posture of the box body is determined by judging the relation of the data transmitted by the distance sensor and the displacement sensor, when the box body has abnormal posture due to the front and back displacement, the box body is abnormal according to the delta y1And Δ y2The two are compared with y, and the box body is determined to be inclined to the front or the back, so that the box body can be adjusted in a targeted manner, and finally the accuracy and the efficiency of box body taking are improved.
As another embodiment, the controller is further configured to:
according to delta y when the current box body is abnormal in posture1≠Δy2Whether the current box body is inclined is judged according to whether the current box body is satisfied, and if the current box body is inclined, as shown in fig. 5, the output box body calling scheme is as follows: solving the width and the inclination angle of the box body according to the pythagorean theorem, adjusting the posture of the box body until the inclination angle is equal to 0, controlling the shuttle to reach the central shaft of the current box body, and selecting a fork matched with the width of the box body to call the current box body; if the box body is not inclined, the output scheme of the calling box body is as follows: and controlling the shuttle car to the central shaft of the current box body and selecting a fork matched with the width of the box body to call the current box body.
And solving the width and the inclination angle of the box body according to the pythagorean theorem, adjusting the position of the current box body until the posture of the box body is normal, controlling the shuttle to the positioning hole, and selecting a fork matched with the width of the box body to transfer the current box body.
As shown in fig. 5, the width of the box body is calculated by the pythagorean theorem as follows:
inclination angle of the box
The technical scheme has the advantages that the reason for the abnormal posture of the box body is determined by judging the relation between the data transmitted by the distance sensor and the displacement sensor, when the box body is inclined to cause the abnormal posture of the box body, the width and the inclination angle of the box body are calculated to adjust the box body in a pertinence manner, and finally the accuracy and the efficiency of transferring the box body are improved.
Example 2
The box body calling method of the embodiment comprises the following steps:
receiving the traveling distance delta l of the shuttle car from the tail end of the previous box body of the current box body to the head end of the current box body, from the head end to the tail end of the current box body and from the tail end of the current box body to the head end of the next box body in sequence1X and Δ l2The distance delta y between the shuttle car and the current box starting end1And the distance delta y from the current box end2；
Judgment of Deltay1＝Δy2＝y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0If yes, judging that the current box body posture is normal and the box body width is x, directly controlling the shuttle to a positioning hole and selecting a pallet fork matched with the box body width to call the current box body; otherwise, judging that the current box body posture is abnormal, and screening out a calling box body scheme matched with the current box body posture to call the current box body; wherein l0And in order to preset the distance between the boxes, delta l is a preset offset error, and y is a preset distance threshold value between the shuttle and the boxes.
In specific implementation, the walking distance delta l of the shuttle car from the tail end of the previous box body of the current box body to the initial end of the current box body, from the initial end of the current box body to the tail end of the current box body and from the tail end of the current box body to the initial end of the next box body in sequence is obtained1X and Δ l2The process comprises the following steps:
acquiring vertical distance data of the shuttle vehicle in the process of moving from the box body A to the box body C in real time; recording the current box as box B, the previous box as box A, the next box as box C, the tail end of box A as P1, the start and tail ends of box B as P2 and P3, respectively, and the start end of box C as P4; starting with a preset position of the shuttle vehicle, which is opposite to the box body A, as an original point O, and taking a traveling distance from the preset position of the box body A to the box body C as an X axis; the method comprises the steps that a distance sensor obtains vertical distance data of a shuttle vehicle in the process of moving from a box body A to a box body C in real time to serve as a Y axis;
according to the fact that when the shuttle car passes through the process and the distance between the box body and the box body is different, the coordinate points of the P4 point, the P3 point, the P2 point and the P1 point on the Y axis are determined by using a filtering consistency fitting algorithm, the corresponding abscissa values of the P4 point, the P3 point, the P2 point and the P1 point on the X axis are further determined, and finally delta l is obtained1X and Δ l2。
As an embodiment, when the current box body is abnormal in posture, the method is based on the delta y1≠Δy2Whether the current box body is inclined or not is judged by judging whether the current box body is inclined, and if the current box body is inclined, the output box body calling scheme is as follows: solving the width and the inclination angle of the box body according to the pythagorean theorem, adjusting the posture of the box body until the inclination angle is equal to 0, controlling the shuttle to reach the central shaft of the current box body, and selecting a fork matched with the width of the box body to call the current box body; if the box body is not inclined, the output scheme of the calling box body is as follows: and controlling the shuttle car to the central shaft of the current box body and selecting a fork matched with the width of the box body to call the current box body.
The technical scheme has the advantages that the reason for the abnormal posture of the box body is determined by judging the relation between the data transmitted by the distance sensor and the displacement sensor, when the box body is inclined to cause the abnormal posture of the box body, the width and the inclination angle of the box body are calculated to adjust the box body in a pertinence manner, and finally the accuracy and the efficiency of transferring the box body are improved.
As an embodiment, in the state that the current box body posture is abnormal, when the delta y1＝Δy2＝y，Δl1And Δ l2Any one of less than l0When the box body is subjected to the displacement left and right, judging that the current box body is only subjected to the displacement left and right, wherein the width of the box body is x;
controlling the shuttle to move in the left and right directions by | Delta l1-Δl2And l, enabling the shuttle car to be located at the central shaft of the current box body and selecting a pallet fork matched with the width of the box body to call the current box body.
As an embodiment, in the state that the current box body posture is abnormal, when the delta y1＝Δy2≠y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0Judging that the current box body only moves back and forth, wherein the width of the box body is x;
and controlling the shuttle to the positioning hole and selecting a fork matched with the width of the box body to call the current box body.
In the embodiment, the state of the box body is judged by acquiring the walking distance from the shuttle to the front end of the current box body from the tail end of the previous box body of the current box body, the front end of the current box body to the tail end of the current box body, the walking distance from the tail end of the current box body to the front end of the next box body, the distance from the shuttle to the front end of the current box body and the distance from the shuttle to the tail end of the current box body respectively, and when the posture of the box body is normal, the shuttle is directly controlled to a positioning hole and a fork matched with the width of the; if the box gesture is unusual, select and transfer the box scheme with current box gesture assorted and transfer current box, avoided getting the damage of goods in-process to the box, improved the efficiency that the box was transferred.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (9)
1. A box retrieval apparatus, comprising:
a data acquisition module configured to acquire a walking distance delta l of the shuttle vehicle from a previous box tail end to a current box start end, from the current box start end to the tail end, and from the current box tail end to a next box start end of the current box in sequence1X and Δ l2The vertical distance delta y between the shuttle car and the current box starting end1And the vertical distance delta y from the current box body tail end2；
A controller configured to:
judgment of Deltay1＝Δy2＝y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0If yes, judging that the current box body posture is normal and the box body width is x, directly controlling the shuttle to a positioning hole and selecting a pallet fork matched with the box body width to call the current box body; otherwise, judging that the current box body posture is abnormal, and screening out a calling box body scheme matched with the current box body posture to call the current box body; wherein l0Presetting a box body interval, delta l is a preset offset error, and y is a preset distance threshold value between the shuttle car and the box body;
when the current box body posture is abnormal, the current box body posture is delta y1＝Δy2＝y，Δl1And Δ l2Any one of less than l0When the box body is subjected to the displacement left and right, judging that the current box body is only subjected to the displacement left and right, wherein the width of the box body is x;
the data acquisition module is further configured to:
recording the current box as box B, the previous box as box A, the next box as box C, the tail end of box A as P1, the start and tail ends of box B as P2 and P3, respectively, and the start end of box C as P4; starting with a preset position of the shuttle vehicle, which is opposite to the box body A, as an original point O, and taking a traveling distance from the preset position of the box body A to the box body C as an X axis; the method comprises the steps that a distance sensor obtains vertical distance data of a shuttle vehicle in the process of moving from a box body A to a box body C in real time to serve as a Y axis;
according to the fact that when the shuttle car passes through the box body and is separated from the box body, data obtained by the distance sensor are different, coordinate points of a P4 point, a P3 point, a P2 point and a P1 point on the Y axis are determined by using a filtering consistency fitting algorithm, then the coordinate values of the P4 point, the P3 point, the P2 point and the P1 point on the X axis are determined to correspond to the abscissa values, and finally delta l is obtained1X and Δ l2。
2. The cabinet retrieval apparatus of claim 1, wherein the controller is further configured to:
according to delta y when the current box body is abnormal in posture1≠Δy2Whether the current box body is inclined or not is judged by judging whether the current box body is inclined, and if the current box body is inclined, the output box body calling scheme is as follows: according to the hook strandSolving the width and the inclination angle of the box body by theorem, adjusting the posture of the box body until the inclination angle is equal to 0, controlling the shuttle vehicle to the central shaft of the current box body, and selecting a fork matched with the width of the box body to call the current box body; if the box body is not inclined, the output scheme of the calling box body is as follows: and controlling the shuttle car to the central shaft of the current box body and selecting a fork matched with the width of the box body to call the current box body.
3. The cabinet retrieval apparatus of claim 1, wherein the shuttle car is controlled to move | Δ l in a left-right direction when the front cabinet is only displaced in a left-right direction1-Δl2And l, enabling the shuttle car to be located at the central shaft of the current box body and selecting a pallet fork matched with the width of the box body to call the current box body.
4. The cabinet retrieval apparatus of claim 1, wherein the controller is further configured to:
when the current box body posture is abnormal, the current box body posture is delta y1＝Δy2≠y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0Judging that the current box body only moves back and forth, wherein the width of the box body is x;
and controlling the shuttle to the positioning hole and selecting a fork matched with the width of the box body to call the current box body.
5. The box transferring device according to claim 1, wherein the data collecting module comprises a displacement sensor, the displacement sensor is mounted on the shuttle car and is used for collecting the traveling distance of the shuttle car from the end of the previous box to the beginning of the current box, from the beginning to the end of the current box and from the end of the current box to the beginning of the next box in sequence;
and the distance sensor is used for detecting the vertical distance between the shuttle car and the start end of the current box body and the vertical distance between the shuttle car and the tail end of the current box body respectively.
6. The cabinet retrieval apparatus of claim 5, wherein the distance sensor is further configured to obtain vertical distance data of the shuttle car during movement from the cabinet a to the cabinet C in real time.
7. A box body retrieval method, comprising:
obtaining the walking distance delta l of the shuttle car from the tail end of the previous box body of the current box body to the head end of the current box body, from the head end to the tail end of the current box body and from the tail end of the current box body to the head end of the next box body in sequence1X and Δ l2The vertical distance delta y between the shuttle car and the current box starting end1And the vertical distance delta y from the current box body tail end2；
Judgment of Deltay1＝Δy2＝y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0If yes, judging that the current box body posture is normal and the box body width is x, directly controlling the shuttle to a positioning hole and selecting a pallet fork matched with the box body width to call the current box body; otherwise, judging that the current box body posture is abnormal, and screening out a calling box body scheme matched with the current box body posture to call the current box body; wherein l0Presetting a box body interval, delta l is a preset offset error, and y is a preset distance threshold value between the shuttle car and the box body;
when the current box body posture is abnormal, the current box body posture is delta y1＝Δy2＝y，Δl1And Δ l2Any one of less than l0When the box body is subjected to the displacement left and right, judging that the current box body is only subjected to the displacement left and right, wherein the width of the box body is x;
when the current box body posture is abnormal, the current box body posture is delta y1＝Δy2≠y，l0-Δl≤Δl1≤l0，l0-Δl≤Δl2≤l0Judging that the current box body only moves back and forth, wherein the width of the box body is x;
obtaining the walking distance delta l of the shuttle car from the tail end of the previous box body of the current box body to the head end of the current box body, from the head end to the tail end of the current box body and from the tail end of the current box body to the head end of the next box body in sequence1X and Δ l2The process comprises the following steps:
acquiring vertical distance data of the shuttle vehicle in the process of moving from the box body A to the box body C in real time; recording the current box as box B, the previous box as box A, the next box as box C, the tail end of box A as P1, the start and tail ends of box B as P2 and P3, respectively, and the start end of box C as P4; starting with a preset position of the shuttle vehicle, which is opposite to the box body A, as an original point O, and taking a traveling distance from the preset position of the box body A to the box body C as an X axis; the method comprises the steps that a distance sensor obtains vertical distance data of a shuttle vehicle in the process of moving from a box body A to a box body C in real time to serve as a Y axis;
according to the fact that when the shuttle car passes through the box body and is separated from the box body, data obtained by the distance sensor are different, coordinate points of a P4 point, a P3 point, a P2 point and a P1 point on the Y axis are determined by using a filtering consistency fitting algorithm, then the coordinate values of the P4 point, the P3 point, the P2 point and the P1 point on the X axis are determined to correspond to the abscissa values, and finally delta l is obtained1X and Δ l2。
8. The cabinet retrieval method according to claim 7, wherein the current cabinet attitude is abnormal according to Δ y1≠Δy2Whether the current box body is inclined or not is judged by judging whether the current box body is inclined, and if the current box body is inclined, the output box body calling scheme is as follows: solving the width and the inclination angle of the box body according to the pythagorean theorem, adjusting the posture of the box body until the inclination angle is equal to 0, controlling the shuttle to reach the central shaft of the current box body, and selecting a fork matched with the width of the box body to call the current box body; if the box body is not inclined, the output scheme of the calling box body is as follows: and controlling the shuttle car to the central shaft of the current box body and selecting a fork matched with the width of the box body to call the current box body.
9. The cabinet retrieval method as set forth in claim 7, wherein the shuttle car is controlled to move | Δ l in the left and right directions when the front cabinet is only displaced in the left and right directions1-Δl2Distance of |, the shuttle vehicle is positioned at the central shaft of the current box body and is selected to be matched with the width of the box bodyThe current box body is called by the fork;
or
When the current box body only moves back and forth, the shuttle car is controlled to the positioning hole, and the fork matched with the width of the box body is selected to call the current box body.
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| CN113264312A (en) * | 2020-06-12 | 2021-08-17 | 深圳市海柔创新科技有限公司 | Container extraction method, device and system, robot and storage medium |
| CN113264303A (en) * | 2020-06-12 | 2021-08-17 | 深圳市海柔创新科技有限公司 | Goods taking control method and system, carrying robot and storage medium |
| CN114919910A (en) * | 2020-11-20 | 2022-08-19 | 深圳市海柔创新科技有限公司 | Goods storage method and device, robot, warehousing system and storage medium |
| CN112429456B (en) * | 2020-11-20 | 2022-12-30 | 深圳市海柔创新科技有限公司 | Exception handling method, device, equipment and system for goods taken out and storage medium |
| CN112407729A (en) * | 2020-11-20 | 2021-02-26 | 深圳市海柔创新科技有限公司 | Goods taking and placing method and device, warehousing robot and warehousing system |
| CN113335827B (en) * | 2021-06-18 | 2023-03-14 | 深圳市海柔创新科技有限公司 | Material adjusting method and equipment |
| CN113788263B (en) * | 2021-10-14 | 2023-05-02 | 北京京东乾石科技有限公司 | Method and system for inspecting stored objects in three-dimensional warehouse |
| CN114212433B (en) * | 2022-01-12 | 2024-01-12 | 北京京东乾石科技有限公司 | Shuttle control method and device, shuttle and storage medium |
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