CN111573115B - Material box taking and placing method and material box robot - Google Patents
Material box taking and placing method and material box robot Download PDFInfo
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- CN111573115B CN111573115B CN202010377494.0A CN202010377494A CN111573115B CN 111573115 B CN111573115 B CN 111573115B CN 202010377494 A CN202010377494 A CN 202010377494A CN 111573115 B CN111573115 B CN 111573115B
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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
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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
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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- Warehouses Or Storage Devices (AREA)
Abstract
The invention discloses a method for taking and placing a material box, which comprises the following steps: selecting an available bin robot according to the information of the bin; controlling the bin robot to carry the goods shelf suitable for the bin; and controlling the bin robot to store the bin in the goods shelf. The invention also discloses a bin robot. The method for picking and placing the workbin selects the available workbin robot according to the information of the workbin, controls the workbin robot to carry the proper goods shelf, and finally stores the workbin on the goods shelf.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to a material box taking and placing method. Still relate to a workbin robot.
Background
Modern logistics systems, warehousing systems or industrial production lines have increasingly high requirements for intellectualization.
In an intelligent storage system, a logistics system or an industrial production factory, the existing bin taking and placing method is only suitable for a bin robot with a fixed storage position and a bin robot without the storage position, the bin robot without the storage position only has a goods picking function, and the bin robot with the fixed storage position needs to carry out unloading work of each storage position after full storage of goods. The disadvantages that result from this are: the goods placing speed is low, and when a plurality of material boxes need to be taken out, the material boxes can be taken out one by one, so that a great amount of time is consumed; the stock structure is not flexible enough, the height of each layer of the multilayer stock structure is fixed, the multilayer stock structure cannot be replaced once being installed on the robot, and when the robot needs to store bins with different sizes into the stock structure, the robot either wastes space or cannot store the bins, so that the number of bins carried by the robot cannot be maximized; overall inefficiency, the workbin robot can not maximize and improve work efficiency. The work efficiency of the bin robot is the highest in the process of taking and placing bins in a roadway, for the robot with the inseparable goods shelf, the robot needs to move to a target point from a goods shelf area after the bins are taken, and the capacity of the robot for taking and placing the bins is actually wasted in the moving distance.
Therefore, how to provide a bin picking and placing method capable of improving the working efficiency and saving the time for continuously picking the goods is an urgent technical problem to be solved by the technical personnel in the field.
Disclosure of Invention
The invention aims to provide a bin taking and placing method, which comprises the steps of firstly selecting an available bin robot according to information of a bin, then controlling the bin robot to carry a proper goods shelf, and finally storing the bin in the goods shelf. Another object of the present invention is to provide a bin robot.
In order to achieve the above object, the present invention provides a method for taking and placing a material box, comprising:
selecting an available bin robot according to the information of the bin;
controlling the bin robot to carry the goods shelf suitable for the bin;
and controlling the bin robot to store the bin in the goods shelf.
Preferably, before the step of selecting an available bin robot according to the information of the bin, the method further comprises:
receiving a carrying task of a bin, searching for a bin robot capable of executing the carrying task, and if not, suspending the carrying task and waiting for the available bin robot.
Preferably, the step of controlling the bin robot to carry the shelf suitable for the bin includes:
judging whether the bin robot bears a goods shelf suitable for the bin or not;
if the work bin is not carried on the back, the work bin robot is dispatched to carry the applicable goods shelf on the back;
and if not, the bin robot is dispatched to put down the existing goods shelf and bear the applicable goods shelf.
Preferably, after the step of controlling the bin robot to carry the shelf suitable for the bin, the method further comprises:
planning a route for the bin robot to the bin.
Preferably, the step of controlling the bin robot to store the bin on the shelf specifically includes:
verifying information of the goods shelf and the material box;
and executing the goods taking operation that the bin robot stores the bin in the goods shelf.
Preferably, the step of verifying the information of the shelf and the bin specifically includes:
verifying the storage position information code of the shelf and the bin information code of the bin through a two-dimensional code identification camera;
and reporting to a scheduling system.
Preferably, after the step of reporting to the scheduling system, the method further includes:
if the information is wrong, the error reporting is suspended, and the manual intervention processing is informed;
if the information is correct, completing goods taking operation, reporting the scheduling system, and waiting for the scheduling system to assign a new task;
judging whether a material box needs to be taken down or not;
and if the bin needs to be removed, returning to the step of selecting the available bin robots according to the information of the bins.
Preferably, after the step of controlling the bin robot to store the bin on the shelf, the method further comprises:
controlling the bin robot to unload the shelves and connect a plurality of the shelves;
and controlling the material box robot to bear the connected plurality of goods shelves.
A bin robot is applied to the bin taking and placing method and comprises a movable robot body and a goods shelf detachably connected with the robot body.
Preferably, the robot body is provided with a fork taking mechanism for forking a material box, a jacking mechanism for jacking the goods shelf and a limiting mechanism for limiting and fixing the goods shelf.
Compared with the background technology, the work bin taking and placing method provided by the invention comprises the following three steps of firstly, selecting an available work bin robot according to information of a work bin; then, controlling the bin robot to carry a goods shelf suitable for the bin; and finally, controlling the bin robot to store the bins on the shelf. Aiming at the problems that the existing bin taking and placing method in the prior art is only suitable for a bin robot with a fixed storage position and a bin robot without the storage position, the method maximizes the working efficiency of the bin robot for taking and placing bins, firstly selects an available bin robot and then selects a goods shelf suitable for taking and placing the bins, so that the goods shelf can meet the taking and placing requirements of the bins, and then goes to the destination for placing the bins to take and place the bins on the goods shelf, the goods shelf of the bin robot can be detached, namely, the method has more flexible taking and placing selection and can meet more various taking and placing requirements, and due to the detachable mode of the goods shelf, the goods shelf with the bins can be directly detached after the bins are taken and placed, and the empty goods shelf is reselected to take and place the bins in the next round, so that the time for continuously picking the bins is saved, and the method has the characteristics of fast goods picking and high efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic flow diagram of a bin picking and placing method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, fig. 1 is a schematic flow chart of a bin picking and placing method according to an embodiment of the present invention.
In a first specific embodiment, the bin taking and placing method provided by the invention comprises steps S1 to S3, wherein step S1 is to select an available bin robot according to information of a bin, step S2 is to control the bin robot to carry a shelf suitable for the bin, and step S3 is to control the bin robot to store the bin on the shelf. Aiming at the problems that the existing work efficiency of the work method of the work.
At the beginning of the bin taking and placing method, firstly selecting an available robot, namely searching a bin robot in an idle state in a working area, so that the bin robot meets the basic condition of going to carry bins; the bin robot is further controlled to go forward to select and carry the goods shelf, namely, the detachable goods shelf and the bin robot are connected into a whole, so that the bin robot carries the goods shelf which can meet and is suitable for taking and placing the bin; and finally, the bin robot is controlled to go to the place for storing the bins and take and place the bins on the goods shelf of the bin robot, so that the taking and placing operation of the bins is completed, the bin robot can further drive the goods shelf and the bins stored in the goods shelf to go to the next place, and the bins and the goods shelf are directly taken out or the bins are taken out one by one without taking down the goods shelf.
Therefore, in the bin taking and placing method, the goods shelf of the bin robot can be detached, namely, the bin robot has more flexible taking and placing selection and can meet more various taking and placing requirements.
Further, before step S1, that is, before the step of selecting an available bin robot according to the information of the bin, the method further includes the steps of: receiving the carrying task of the bin, searching for a bin robot capable of executing the carrying task, and if not, suspending the carrying task and waiting for the available bin robot.
In this embodiment, the number of bin robots is multiple and the multiple bin robots are both in the same network management and control of the robot scheduling system, and the robot scheduling system receives bin carrying tasks from the task management system first, and then enters the next step; the dispatching system searches all the robots in the executable task state, namely the bin robots, on the map, and if the robots are available, the next step is directly carried out in step S1, and if no idle robot exists, the dispatching system suspends the task and waits for the idle available robot, and then the next step is carried out in step S1.
Further, in step S2, the step of controlling the bin robot to carry the shelf suitable for the bin includes the steps of: judging whether the bin robot bears a goods shelf suitable for the bin or not; if the work bin is not carried, the material box dispatching robot carries the applicable goods shelf; if not, the dispatching bin robot puts down the existing goods shelf and carries the applicable goods shelf.
In this embodiment, immediately after the available robot is found, the scheduling system determines whether the robot has carried a suitable rack, if the size of the rack carried by the robot is not suitable for the bin to be carried, the system schedules the robot to go to a vacant position where the rack can be stored, instructs the robot to put down the existing rack, then the system schedules the robot to go to a suitable vacant rack position to jack up the rack, and then the next step S3 is performed; if the robot does not bear the goods shelf, the system dispatches the robot to the appropriate empty goods shelf position to jack up the goods shelf, and then the next step S3 is carried out; if there is a suitable shelf, the next step S3 is entered.
Further, after step S2 or before step S3, that is, after the step of controlling the bin robot to carry the shelf suitable for the bin, the method further comprises the steps of: and planning a route for the bin robot to the bin.
In this embodiment, the dispatching system issues a command and a route to move to a starting point, that is, a location where the material box is stored, the robot receives the command and then moves to the task starting point a, and the fork-taking mechanism is lifted to a height corresponding to the target material box to perform a pick-and-place operation of taking and placing the material box on the shelf.
Further, in step S3, the step of controlling the bin robot to store the bin on the shelf specifically includes the steps of: verifying information of the goods shelf and the material box; and executing the goods taking operation of the bin robot for storing the bin on the shelf.
More specifically, in the first step of step S3, namely, the step of verifying the information of the rack and the bin, the method specifically includes the steps of: verifying the storage position information code of the goods shelf and the bin information code of the bin through a two-dimensional code recognition camera; and reporting to a scheduling system.
In the embodiment, the robot verifies the storage position information code on the goods shelf and the bin information code on the bin through the two-dimensional code recognition camera on the forking mechanism, uploads the information codes to the dispatching system, and the dispatching system confirms whether the starting point target is correct or not.
More specifically, after the step of reporting the scheduling system, the method further comprises the steps of: if the information is correct, the goods taking operation is finished, the scheduling system is reported, and a new task is waited to be assigned by the scheduling system; judging whether a material box needs to be taken down; if a bin is to be removed, the process returns to step S1, i.e. the step of selecting an available bin robot based on the information of the bin is repeated.
In this embodiment, the dispatching system confirms whether the starting point target is correct, if the system confirms that the target is correct, the system sends a goods taking command to the robot, the fork mechanism executes the goods taking action, the robot reports that the dispatching system is ready to move to the next target point after the goods taking action is finished, if a material box needs to be taken down, the step returns to the step S1, further, the step returns to the step of planning a route to the material box for the material box robot, if the material box does not need to be taken again, the next step is entered, the dispatching system issues a command and a route for moving to the destination, the robot receives the command, moves to a task destination B, then enters the next step, the robot identifies a camera through a two-dimensional code on the fork mechanism to verify a position information code on a goods shelf and uploads the position information code to the dispatching system, the dispatching system confirms whether the destination position target is correct, if the system confirms that the target is correct, entering the next step, sending a goods placing command to the robot by the system, executing goods placing actions by the fork-picking mechanism, and finally completing the task, wherein the robot waits for the dispatching system to assign a new task; on the contrary, after the step of reporting the scheduling system, the method further comprises the steps of: if the information is wrong, the error reporting is suspended, and the manual intervention processing is informed.
For better technical effect, the robot in the embodiment has the double functions of forking and taking the material box and carrying the material box; after the step of controlling the bin robot to store the bins on the shelf, the method further comprises the following steps: controlling the bin robot to unload the shelves and connect the shelves; and controlling a plurality of goods shelves after the bin robot is connected with the back of the body. That is to say, a plurality of robots can be in proper order with the goods shelves transport to task mid point C and put down of having the workbin, link together a plurality of goods shelves after, unified by single robot bear and go to task terminal C to the work efficiency of maximize utilization robot reduces the goods picking time of robot.
The invention also provides a bin robot, which comprises a movable robot body and a goods shelf detachably connected with the robot body, wherein the robot body is connected into the network management and control of the robot scheduling system, and is provided with a moving mechanism so as to drive the robot body to move; more specifically, the robot body still has to fork and gets mechanism, climbing mechanism and stop gear, and the fork that gets the mechanism lies in the fork and gets the workbin, and climbing mechanism's effect lies in the top and rises goods shelves and link to each other with goods shelves, and stop gear's effect lies in spacing fixed connection's goods shelves, and in addition, the workbin robot still is equipped with the two-dimensional code camera that is used for detecting the information code, and the two-dimensional code camera is located the fork and is got the mechanism.
In the embodiment, the bin robot not only has the function of forking the bins, but also has the function of carrying the goods shelves and the bins; that is to say, this workbin robot is a tractor serves two purposes, both can get the mechanism through the fork and get the workbin fork and put goods shelves and realize the fork and get, and rethread climbing mechanism jacking goods shelves, spacing fixed goods shelves of stop gear, moving mechanism drive the motion and realize depositing and transport.
More specifically, the robot body is a main framework of the bin robot, and the moving mechanism can be arranged as wheels or tracks at the bottom of the main framework, so that the main framework is driven to move; the forking mechanism can be arranged on the front side of the main framework, is arranged on the sliding track in the height direction, can vertically adjust the height position along the height direction, and is similar to the forking mechanism in the prior art; the jacking mechanism can be arranged at the lower part of the rear side of the main body framework, can be pushed upwards and is provided with a limiting block which is assembled and matched with the lower end of the goods shelf after being pushed; the limiting mechanism can be arranged on the upper portion of the rear side of the main body framework, can be arranged in the form of a hook and the like, and is used for being matched with the jacking mechanism and being fixed with the upper end of the goods shelf in a clamping mode, so that the goods shelf can be stably fixed.
In this embodiment, the bin robot is suitable for the bin taking and placing method, and in the using process:
in the first step, the robot scheduling system receives a bin transfer task from the task management system.
Then entering a second step;
secondly, the dispatching system searches all robots in a task executable state on the map, if no idle robot exists, the task is suspended, the idle available robot is waited, and then the third step is carried out;
thirdly, after finding the available robot, the system judges whether the robot bears a proper goods shelf or not, if the size of the goods shelf borne by the robot is not suitable for a material box to be carried, the fourth step is carried out, if the robot does not bear the goods shelf, the fifth step is carried out, and if the robot bears the proper goods shelf, the sixth step is carried out;
fourthly, the system dispatches the robot to go to a vacant position where the goods shelves can be stored, orders the robot to put down the existing goods shelves, and then enters the fifth step;
fifthly, the system dispatching robot goes to a proper empty goods shelf position to jack up the goods shelf, and then the sixth step is carried out;
sixthly, planning a route for the robot to the starting point by the dispatching system, and then entering the seventh step;
seventhly, the dispatching system issues commands and routes for moving to the starting point, the robot moves to the task starting point A after receiving the commands, the forking mechanism is lifted to the corresponding height of the target material box, and then the eighth step is carried out;
eighthly, verifying the storage position information codes on the goods shelves and the bin information codes on the bins by the robot through a two-dimensional code recognition camera on the forking mechanism, uploading the information codes to a dispatching system, confirming whether the starting point target is correct by the dispatching system, entering the ninth step if the starting point target is correct, and entering the fifteenth step if the starting point target is wrong;
and ninthly, the system sends a goods taking command to the robot, the fork taking mechanism executes goods taking action, and after the goods taking action is completed, the robot reports that the scheduling system is ready to move to the next target point for preparation. Entering the tenth step;
step ten, returning to the step six if a feed box needs to be taken down, and entering the step ten if the feed box does not need to be taken;
eleventh, the dispatching system issues commands and routes for moving to the destination, the robot moves to a task destination B after receiving the commands, and then the second step is carried out;
the twelfth step, the robot verifies the storage position information codes on the goods shelf through a two-dimensional code recognition camera on the forking mechanism and uploads the information codes to the dispatching system, the dispatching system confirms whether the destination storage position target is correct or not, if the system confirms that the target is correct, the thirteenth step is carried out, and if the target is wrong, the fifteenth step is carried out;
step thirteen, the system sends a goods placing command to the robot, the fork mechanism executes goods placing action, and then the step fourteenth is carried out;
step fourteen, the task is completed, and the robot waits for the dispatching system to dispatch a new task;
and fifteenth, error reporting of the system, task suspension and manual intervention processing.
The above detailed description is provided for the bin picking and placing method and system provided by the invention. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. A method for taking and placing a material box is characterized by comprising the following steps:
selecting an available bin robot according to the information of the bin;
judging whether the bin robot bears a goods shelf suitable for the bin or not;
if the work bin is not carried on the back, the work bin robot is dispatched to carry the applicable goods shelf on the back;
if not, the work bin robot is dispatched to put down the existing goods shelf and bear the applicable goods shelf;
controlling the bin robot to store the bins on the shelf;
controlling the bin robot to unload the shelves and connect a plurality of the shelves;
and controlling the material box robot to bear the connected plurality of goods shelves.
2. The bin picking and placing method according to claim 1, wherein the step of selecting an available bin robot according to the information of the bin is preceded by the step of:
receiving a carrying task of a bin, searching for a bin robot capable of executing the carrying task, and if not, suspending the carrying task and waiting for the available bin robot.
3. The bin picking and placing method according to claim 1, wherein the step of controlling the bin robot to piggy back a shelf adapted to the bin further comprises:
planning a route for the bin robot to the bin.
4. A bin picking and placing method according to any one of claims 1 to 3, wherein the step of controlling the bin robot to deposit the bin on the shelf specifically comprises:
verifying information of the goods shelf and the material box;
and executing the goods taking operation that the bin robot stores the bin in the goods shelf.
5. The bin picking and placing method according to claim 4, wherein the step of verifying the information of the shelf and the bin specifically comprises:
verifying the storage position information code of the shelf and the bin information code of the bin through a two-dimensional code identification camera;
and reporting to a scheduling system.
6. A bin picking and placing method according to claim 5, characterised in that after the step of reporting the scheduling system, the method further comprises:
if the information is wrong, the error reporting is suspended, and the manual intervention processing is informed;
if the information is correct, completing goods taking operation, reporting the scheduling system, and waiting for the scheduling system to assign a new task;
judging whether a material box needs to be taken down or not;
and if the bin needs to be removed, returning to the step of selecting the available bin robots according to the information of the bins.
7. A bin robot applied to the bin picking and placing method as defined in any one of claims 1 to 6, wherein the bin robot comprises a movable robot body and a shelf detachably connected with the robot body.
8. The bin robot as claimed in claim 7, wherein the robot body is provided with a fork mechanism for forking the bin, a jacking mechanism for jacking the shelf, and a limiting mechanism for limiting and fixing the shelf.
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| CN114194681B (en) * | 2021-12-06 | 2023-08-11 | 清华大学深圳国际研究生院 | Optimal path method for multi-bin robot goods-accessing operation |
| CN114476482B (en) * | 2022-03-24 | 2022-12-20 | 深圳市海柔创新科技有限公司 | Method, device, equipment, system, medium and product for controlling bin conveying |
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