CN112208676B - Adjusting method and device for goods container and carrying equipment - Google Patents
Adjusting method and device for goods container and carrying equipment Download PDFInfo
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Abstract
The invention provides a method and a device for adjusting a cargo container and carrying equipment, which relate to the technical field of logistics and comprise the steps of obtaining the actual course and the target course of the carrying equipment; acquiring the angle deviation between the target direction of the cargo container and the actual course of the carrying equipment; based on the actual course, the target course and the angular deviation, the direction of the goods container is adjusted until the target direction of the goods container is consistent with the target course of the carrying equipment. The invention can effectively relieve the possible container collision problem of the carrying equipment in the process of transporting the goods-placing container, and improves the transportation safety of the carrying equipment.
Description
Technical Field
The invention relates to the technical field of logistics, in particular to a method and a device for adjusting a cargo container and carrying equipment.
Background
A conveying apparatus such as an AGV (Automated Guided Vehicle) has been widely used in the field of intelligent logistics storage for performing Automated operations such as picking up goods, transporting goods to a designated location, and the like. Safety is the most basic and important performance index in the process of transporting goods by a handling device. In most practical application scenarios, in order to make more efficient use of the storage space, users mostly want the width of the running track of the handling equipment to be as narrow as possible while ensuring safe operation of the handling equipment. When the running track is designed to be narrower and narrower, the goods container for loading goods transported by the transporting equipment may deviate from the track to which the transporting equipment belongs, encroach on the space of the rest of the track, and the transporting equipment positioned on different tracks may have potential safety hazards such as container collision.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for adjusting a container, and a transporting device, which can effectively alleviate the problem of container collision that may exist in the transporting device during the transportation of the container, and improve the transportation safety of the transporting device.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a method for adjusting a container, where the method is performed by a handling apparatus, and the handling apparatus is configured to drive the container to move, where the method includes: acquiring the actual course and the target course of the carrying equipment; acquiring the angle deviation between the target direction of the goods container and the actual course of the carrying equipment; and adjusting the direction of the goods container based on the actual course, the target course and the angle deviation until the target direction of the goods container is consistent with the target course of the carrying equipment.
Further, the step of obtaining the actual course and the target course of the carrying device includes: detecting the actual course of the carrying equipment through a positioning sensor on the carrying equipment; and acquiring a task to be executed by the carrying equipment, and determining the target course of the carrying equipment based on the task to be executed.
Further, a direction mark for indicating the target direction of the goods container is arranged on the goods container; the step of obtaining the angular deviation between the target direction of the cargo container and the actual course of the carrying device comprises the following steps: determining the target direction of the goods container according to the direction identification; and calculating the angular deviation between the target direction of the goods placing container and the actual course of the carrying equipment.
Further, the carrying equipment is used for driving the goods placing container to move in a jacking mode; the direction mark is attached to the bottom of the goods placing container; the step of determining the target direction of the container according to the direction identifier comprises: and identifying the target direction of the goods container indicated by the direction mark in an image identification mode.
Further, the step of adjusting the orientation of the cargo container based on the actual heading, the target heading, and the angular deviation includes: estimating the theoretical rotation angle of the carrying equipment according to the actual course and the target course; calculating a correction angle required for adjusting the target direction of the cargo container to be consistent with the target course of the carrying equipment according to the actual course, the target course, the theoretical rotation angle and the angle deviation; adjusting the orientation of the cargo container based on the corrected angle.
Further, the adjusting the direction of the cargo container based on the corrected angle includes: judging whether the correction angle is larger than a preset angle threshold value or not; when the correction angle is smaller than or equal to a preset angle threshold value, adjusting the direction of the goods container according to the correction angle; and when the correction angle is larger than a preset angle threshold value, adjusting the direction of the goods container according to the preset angle threshold value.
Further, the method further comprises: when the correction angle is larger than a preset angle threshold value, recording the occurrence of a primary angle abnormal phenomenon; and when the recorded occurrence frequency of the angle abnormal phenomenon is greater than a preset frequency threshold value, initiating an alarm prompt.
Further, the method further comprises: and adjusting the actual course of the carrying equipment based on the theoretical rotation angle of the carrying equipment so as to enable the actual course of the carrying equipment to be consistent with the target course.
In a second aspect, an embodiment of the present invention further provides an adjusting device for a container, where the adjusting device is applied to a conveying apparatus, and the conveying apparatus is configured to drive the container to move, where the adjusting device includes: the course obtaining module is used for obtaining the actual course and the target course of the carrying equipment; the angle deviation acquisition module is used for acquiring the angle deviation between the target direction of the goods container and the actual course of the carrying equipment; and the container direction adjusting module is used for adjusting the direction of the goods container based on the actual course, the target course and the angle deviation until the target direction of the goods container is consistent with the target course of the carrying equipment.
In a third aspect, an embodiment of the present invention provides a conveying apparatus, including: a processor and a storage device; the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any one of the aspects as provided in the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, performs the steps of the method according to any one of the above-mentioned first aspect.
The embodiment of the invention provides a method, a device and a carrying device for adjusting a cargo container, wherein the method is executed by the carrying device for driving the cargo container to move, firstly, the actual course and the target course of the carrying device are obtained, the angle deviation between the target direction of the cargo container and the actual course of the carrying device is obtained, and finally, the direction of the cargo container can be adjusted based on the actual course, the target course and the angle deviation until the target direction of the cargo container is consistent with the target course of the carrying device. The method can finally adjust the target direction of the goods container to be consistent with the target course of the carrying equipment, avoids the problem that the goods containers driven by different carrying equipment are easy to collide and the like due to the fact that the target direction of the goods container deviates from a track (target course) where the carrying equipment is supposed to run in the process of driving the goods container by the carrying equipment, and effectively guarantees the transportation safety of the carrying equipment.
Additional features and advantages of embodiments of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of the invention as set forth above.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a handling apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a handling apparatus for lifting a container according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a positive position of a cargo container according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a storage container in a tilted state according to an embodiment of the present invention;
FIG. 5 is a flow chart illustrating a method for adjusting a shipping container according to an embodiment of the present invention;
FIG. 6a is a schematic diagram of a handling apparatus provided by an embodiment of the present invention in relation to a first coordinate system;
FIG. 6b is a schematic view of another handling apparatus provided by embodiments of the present invention in relation to a first coordinate system;
FIG. 7a is a schematic diagram of a handling apparatus according to an embodiment of the present invention in relation to a second coordinate system;
FIG. 7b is a schematic view of another handling apparatus provided by embodiments of the present invention in relation to a second coordinate system;
fig. 8 is a schematic structural diagram illustrating an adjusting device for a cargo container according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, not all, embodiments of the present invention.
At present, the carrying equipment is widely applied to the fields of e-commerce, intelligent factories and the like, and there are AGVs (Automated Guided vehicles), stackers, forklifts, shuttles and the like, wherein safety and stability are the most basic and important performance indexes of the carrying equipment. The AGV robot is taken as an example for explanation, in most application scenarios, in order to more efficiently apply available space in a field, a mode of reducing the width of a runway required by the AGV robot as much as possible under the condition that the AGV robot can safely operate is mostly adopted by a user, so that the purpose of more fully utilizing the available space in the application field is achieved. In practical application, the narrower the runway width in the application field, the higher the requirements on the running performance and the safety performance of the AGV robot are. However, in the running process of the AGV robot, the container driven by the AGV robot is prone to be deviated, it is difficult to ensure that the container driven by the AGV robot is in a positive state with the runway (that is, the target direction of the container is consistent with the direction of the runway), and once the container is in a skew state (the target direction of the container is not consistent with the direction of the runway), the occupied space of the container is prone to extend to other runways, which easily causes the two AGV robots to collide with each other when meeting each other. Therefore, in the moving process of the AGV robot, the cargo container driven by the AGV robot is ensured to be positioned in the runway, and the safety of the AGV robot is very important.
In some embodiments, the AGV robot corrects the angle between the AGV robot and the container carried by the AGV robot only when the AGV robot encounters a rotation. In other embodiments, some AGV robots properly correct the angle between the AGV robot and the container carried by the AGV robot during the moving process, but this solution is essential to keep the heading of the AGV robot consistent with the target direction of the container of the AGV robot, and once the heading of the AGV robot deviates slightly from the runway, the container is correspondingly carried to be in a skewed state relative to the runway. Therefore, the above solutions cannot ensure that the AGV robot keeps the container in the runway all the time during the operation process, so that the robots in different runways may have potential safety hazards such as container collision. To improve this problem, embodiments of the present invention provide a method and an apparatus for adjusting a storage container, and a transportation device, which are applicable to a scenario where a transportation device needs to be applied, such as a warehousing scenario, and the following detailed description of the embodiments of the present invention is provided.
The first embodiment is as follows:
first, an example carrier apparatus 100 for implementing an adjustment method and device of a loading container according to an embodiment of the present invention will be described with reference to fig. 1. The storage container according to the embodiment of the present invention is, for example, a tray, a bin, a shelf, or the like, and the embodiment of the present invention is not limited thereto.
Referring to a schematic diagram of a handling apparatus as shown in fig. 1, a handling apparatus 100 includes one or more processors 102, one or more memory devices 104, an input device 106, an output device 108, and an image capture device 110, which are interconnected via a bus system 112 and/or other type of connection mechanism (not shown). It should be noted that the components and configuration of the handling apparatus 100 shown in fig. 1 are exemplary only, and not limiting, and the handling apparatus may have other components and configurations as desired.
The processor 102 may be implemented in at least one hardware form of a Digital Signal Processor (DSP), a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), the processor 102 may be one or a combination of several of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or other forms of processing units having data processing capability and/or instruction execution capability, and may control other components of the handling device 100 to perform desired functions.
The storage 104 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processor 102 to implement client-side functionality (implemented by the processor) and/or other desired functionality in embodiments of the invention described below. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.
The input device 106 may be a device used by a user to input instructions and may include one or more of a keyboard, a mouse, a microphone, a touch screen, and the like.
The output device 108 may output various information (e.g., images or sounds) to the outside (e.g., a user), and may include one or more of a display, a speaker, and the like.
The image capture device 110 may take images (e.g., photographs, videos, etc.) desired by the user and store the taken images in the storage device 104 for use by other components.
Illustratively, the conveying device may be implemented as an AGV, for example, for implementing the adjusting method, the adjusting device and the conveying device of the loading container according to the embodiment of the present invention.
Example two:
to facilitate understanding of the embodiments of the present invention, a detailed description will be first provided for an adjusting method of a cargo container disclosed in the embodiments of the present invention, where the adjusting method is performed by a carrying device, where the carrying device is configured to drive the cargo container to move, and the driving manner may be, for example, lifting driving or pushing and pulling driving. The storage container according to the embodiment of the present invention is, for example, a tray, a bin, a shelf, or the like, and the embodiment of the present invention is not limited thereto.
For convenience of understanding, the embodiment of the present invention is described by taking a carrying device for lifting a container as an example, and referring to a schematic diagram of a carrying device for lifting a container shown in fig. 2, a left oblique line covered area in fig. 2 represents a carrying device, a right oblique line covered area represents a container, and a container is disposed above the carrying device and is lifted by the carrying device for moving. In addition, the embodiment of the present invention further exemplarily provides a schematic view of a cargo container shown in fig. 3 in a positive state, and fig. 3 illustrates that the cargo container and the handling device are both located in a runway L1, and the cargo container does not encroach on the space of the remaining runways, such as a runway L2, a runway L3, and the like; accordingly, the embodiment of the present invention further exemplarily provides a schematic diagram of a loading container in a tilted state as shown in fig. 4, where fig. 4 illustrates that a carrying device is located in a runway L1, but the loading container encroaches on a runway L2 and a runway L3 due to deviation of a target direction of the loading container, and during operation of the carrying device in the runway L1, the loading container lifted by the carrying device is likely to collide with the loading container lifted by the carrying device operated in the runway L2 and the runway L3, so that a safety accident occurs.
In order to avoid the situation shown in fig. 4 as much as possible, an embodiment of the present invention provides a method for adjusting a storage container, which is shown in fig. 5, and the method mainly includes the following steps S502 to S506:
and step S502, acquiring the actual heading and the target heading of the carrying equipment.
In one embodiment, the carrying device can be provided with a positioning sensor for sensing the actual course of the carrying device, so that the actual course of the carrying device can be sensed in real time by the positioning sensor. The target heading of the handling equipment is a moving direction which the handling equipment should theoretically follow, and can also be understood as a task track direction or a direction of a runway on which the handling equipment is located.
In step S504, an angular deviation between the target direction of the container and the actual heading of the handling apparatus is obtained.
The target direction of the cargo container may be, for example, a direction perpendicular to a front surface of the cargo container or a direction perpendicular to a side surface of the cargo container, but the present invention is not limited thereto. The following description will be given taking an example in which the storage container is a shelf and the target direction is a direction perpendicular to the front surface of the shelf, and a direction perpendicular to the front surface of the shelf is a target direction of the shelf (this can be understood with reference to fig. 3 and 4). In addition, the angular deviation can be understood as the relative course between the container and the handling device, and if the target direction of the container is consistent with the actual course of the handling device, there is no angular deviation, i.e. the angular deviation is 0. If the target direction of the container is not consistent with the actual course of the carrying device, an angle deviation exists at the moment, and the angle deviation can be obtained by calculating the difference between the target direction of the container and the actual course of the carrying device.
Step S506, based on the actual course, the target course and the angle deviation, the direction of the goods container is adjusted until the target direction of the goods container is consistent with the target course of the carrying equipment.
In order to adjust the direction of the loading container to be consistent with the target course (runway direction) of the carrying equipment, course deviation between the actual course and the target course in the carrying equipment and angle deviation between the target direction of the loading container and the actual course of the carrying equipment need to be considered comprehensively.
The adjusting method of the goods placing container provided by the embodiment of the invention can finally adjust the target direction of the goods placing container to be consistent with the target course of the carrying equipment, thereby avoiding the problems that the target direction of the goods placing container deviates from the track (target course) where the carrying equipment should operate and the goods placing containers driven by different robots are easy to collide and the like in the process of driving the goods placing container by the carrying equipment, and effectively ensuring the transportation safety of the carrying equipment.
The carrying equipment provided by the embodiment of the invention can be provided with a positioning sensor, an angle sensor and a main control module, wherein the positioning sensor is used for sensing the actual course of the carrying equipment in real time, the angle sensor is used for detecting the target direction of the goods container, and the control module is used for controlling the carrying equipment and the goods container to rotate, such as the main control module of an AGV robot.
To facilitate understanding of the step S502, an embodiment of the present invention provides a specific implementation manner for obtaining an actual heading and a target heading of a transportation device, where the actual heading of the transportation device is detected by a positioning sensor on the transportation device, then a task to be executed by the transportation device is obtained, and the target heading of the transportation device is determined based on the task to be executed.
The Positioning sensor may include a sensor applying a Positioning technology such as an inertial navigation technology or a GPS (Global Positioning System) technology, for sensing an actual heading of the handling apparatus in real time. In one embodiment, the actual or target course of the handling device may be characterized on the basis of an angle, for example, a first coordinate system is pre-established on the basis of the actual site, which may be understood as a map coordinate system of the handling device relative to the application site, and the Y direction in the first coordinate system is used for characterizing the actual course of the handling device, see fig. 6a for a schematic diagram of the handling device relative to the first coordinate system, XtIs the horizontal axis of the first coordinate system, YtIs the longitudinal axis of the first coordinate system, YbFor the actual course of the handling equipment, XbAnd YbVertical, when the actual course Y of the handling equipmentbY relative to the first coordinate systemtWhen the axis is deviated to the right, YbAnd the extension line of the first coordinate system YtFirst angle theta between the axesbIs positive; referring to FIG. 6b, another schematic diagram of the handling device relative to the first coordinate system when the actual heading Y of the handling device is shownbY relative to the first coordinate systemtWhen the axis is deviated to the left, YbAnd the extension line of the first coordinate system YtFirst angle theta between the axesbIs negative, wherein the first included angle thetabCan be used to characterize the actual heading of the handling apparatus. It should be noted that the above is only one way of setting the coordinate system, and should not be considered as a limitation, such as the first included angle θ of fig. 6a may also be usedbSet to negative, first angle theta of fig. 6bbSet to positive.
In addition, the target course of the carrying equipment is determined based on the task to be executed, and the target course of the carrying equipment is determined based on the target track corresponding to the task to be executed, the target track can be obtained by planning based on a runway through a path control algorithm built in the carrying equipment, and the target track is consistent with the runway, so that the target course of the carrying equipment at each moment is determined according to the target track, and the carrying equipment moves along the runway based on the target course.
In order to obtain a target direction of a storage container, a direction identifier for indicating the target direction of the storage container is arranged on the storage container provided by the embodiment of the invention, wherein the direction identifier may include a one-dimensional code or a two-dimensional code with directionality, and the direction identifier is a two-dimensional code for example. Based on this, the embodiment of the present invention provides an implementation manner for obtaining an angle deviation between a target direction of a container and an actual heading of a handling device, which may be specifically referred to as the following steps a to b:
and a, determining the target direction of the goods container according to the direction identifier. In one embodiment, the carrying device may further be provided with a camera, and the camera may be used to capture an orientation indicator provided on the cargo container, so that the carrying device can recognize an image containing the orientation indicator, thereby determining the target orientation of the cargo container. If the carrying equipment provided by the embodiment of the invention is used for driving the goods placing container to move in a jacking mode, and the direction mark is attached to the bottom of the goods placing container, the logistics machine can identify the target direction of the goods placing container based on the direction mark at the bottom of the goods placing container.
And b, calculating the angle deviation between the target direction of the goods container and the actual course of the carrying equipment. In one embodiment, the angular deviation between the target direction of the container and the actual heading of the handling device may be characterized on the basis of an angle, for example, a second coordinate system may be established in advance on the basis of actual requirements, which may be understood as a coordinate system of the container relative to the handling device, as shown in fig. 7a for a type of handling deviceSchematic representation of the transport apparatus relative to a second coordinate system, XsIs the horizontal axis of the second coordinate system, YsIs the longitudinal axis of the second coordinate system, YsCan be used to characterize the target direction, Y, of the storage containerbCan be used for representing the actual course X of the handling equipmentbAnd YbVertical, when the actual course Y of the handling equipmentbY relative to a second coordinate systemsWhen the axis is deviated to the right, YbAnd the extension line second coordinate system YsSecond angle theta between the axessIs negative; referring to FIG. 7b, another schematic diagram of the handling apparatus relative to the second coordinate system is shown, when the actual heading Y of the handling apparatus isbY relative to the first coordinate systemsWhen the axis is deviated to the left, YbAnd the extension line of the first coordinate system YsSecond angle theta between the axessIs positive, wherein the second included angle thetasCan be used to characterize the angular deviation described above. It should be noted that the above is only one way of setting the coordinate system, and should not be considered as a limitation, such as the first included angle θ of fig. 7a may also be usedsSet to positive, first included angle θ of FIG. 7bsSet to negative.
After the actual heading and the target heading of the transporting device and the angular deviation between the target direction of the container and the actual heading of the transporting device are obtained according to the method provided by the embodiment, the direction of the container can be adjusted based on the actual heading, the target heading and the angular deviation, and in a specific implementation, the direction of the container can be adjusted according to the following steps 1 to 3:
and step 1, estimating the theoretical rotation angle of the carrying equipment according to the actual course and the target course. The theoretical rotation angle can be understood as an angle that the carrying device needs to rotate at the next moment when the carrying device is adjusted from the actual heading to the target heading. In one embodiment, the theoretical rotation angle θb1The theoretical rotation angle theta of the carrying equipment can be calculated and obtained through a path control algorithm in a control module of the carrying equipment, and optionally, the theoretical rotation angle theta of the carrying equipment can be calculated and obtained through the path control algorithm based on the motor performance of the carrying equipment and a target pathb1。
And 2, calculating a correction angle required when the target direction of the cargo container is adjusted to be consistent with the target course of the carrying equipment according to the actual course, the target course, the theoretical rotation angle and the angle deviation. In one embodiment, the calculation of the correction angle is described by taking the cases shown in fig. 6a and 7a as an example, and the correction angle θ can be calculated according to the following formulap：
θp＝SIGN(θs-θb1)*(θb+θs-θt-θt)；
Wherein, thetabRepresenting the actual heading, thetatRepresenting target heading, θsIndicating the angular deviation, thetab1Representing a theoretical rotation angle; when the angle deviation thetasGreater than or equal to the theoretical rotation angle thetab1Then, SIGN (θ)s-θb1) When the angular deviation theta is 1sLess than the theoretical angle of rotation thetab1Then, SIGN (θ)s-θb1) Is-1. The addition and subtraction conditions of the actual heading, the target heading, the angle deviation and the theoretical rotation angle in the above formula are related to respective positive and negative conditions, and can be determined by the first coordinate system and the second coordinate system, which is just an example of the positive and negative conditions of the coordinate system and the angle defined by fig. 6a and 7 a. In practical application, when the included angle between the actual heading of the carrying device and the target heading is known and the angle deviation between the actual heading of the carrying device and the target direction of the cargo container is known, the included angle (i.e., the correction angle) between the target direction of the cargo container and the target heading of the carrying device can be obtained based on the included angle between the actual heading of the carrying device and the target heading and the angle deviation between the actual heading of the target robot and the target direction of the cargo container.
And step 3, adjusting the direction of the goods container based on the corrected angle. In one embodiment, the motor of the conveying device may be adjusted to rotate based on the determined correction angle to drive the cargo container to rotate, so as to adjust the target direction of the cargo container to be consistent with the target heading of the conveying device. In addition, considering that the transportation equipment may have abnormal sensor detection in some cases, which may cause erroneous sensing detection results, and thus the final correction angle is too large, which may cause deviation in the direction adjustment of the cargo container, an embodiment of the present invention exemplarily provides an implementation manner for adjusting the direction of the cargo container based on the correction angle, and refer to the following steps 3.1 to 3.3:
and 3.1, judging whether the correction angle is larger than a preset angle threshold value. The preset angle threshold value can be set based on the performance of the conveying equipment and the task track of the conveying equipment. In one embodiment, the correction angle θ can be calculated in real time by a control module of the handling apparatuspAnd a preset angle threshold value thetalimitThe magnitude of which is compared.
And 3.2, when the correction angle is smaller than or equal to a preset angle threshold value, adjusting the direction of the goods container according to the correction angle. When correcting the angle thetapLess than or equal to a predetermined angle threshold thetalimitWhile, can be according to the correction angle thetapAnd controlling the carrying equipment to adjust the angle of the goods placing container so as to adjust the target direction of the goods placing container to be consistent with the target course of the carrying equipment.
And 3.3, when the correction angle is larger than a preset angle threshold, adjusting the direction of the goods container according to the preset angle threshold. When correcting the angle thetapGreater than a predetermined angle threshold thetalimitWill utilize a preset angle threshold thetalimitThe direction of the container is adjusted to avoid the abnormal adjustment result of the direction of the container due to the overlarge correction angle.
In one embodiment, when the correction angle is larger than a preset angle threshold value, recording that an angle abnormality occurs once; and when the occurrence frequency of the recorded angle abnormal phenomenon is greater than a preset frequency threshold value, initiating an alarm prompt. That is, if the angle abnormality occurs many times, it may be caused by an abnormality in a software program of the transportation device or an abnormality in a hardware device, and therefore, related personnel are required to perform maintenance processing on the transportation device in time. For example, the preset number threshold is 3, and when the correction angle is detected to be greater than the preset angle threshold for 4 times, an alarm prompt may be initiated, where the alarm prompt may include an audible alarm or a light alarm. In addition, an alarm prompt can be sent to the appointed related terminal, and related personnel of the related terminal are prompted to overhaul the carrying equipment.
In addition, because the actual course of the carrying equipment may deviate from the target course of the carrying equipment in the operation process of the carrying equipment, in order to correct the actual course of the carrying equipment in time, the embodiment of the invention also provides an implementation mode for adjusting the actual course of the carrying equipment, and particularly, the actual course of the carrying equipment can be adjusted based on the theoretical rotating angle of the carrying equipment so as to enable the actual course of the carrying equipment to be consistent with the target course. In practical applications, the carrying device may be provided with wheels and a motor for driving the wheels, and when the actual heading of the carrying device deviates from the target heading, the actual heading of the carrying device may be adjusted based on the theoretical rotation angle, so that the carrying device continues to move in the runway according to the target heading.
In summary, the adjusting method for the cargo container provided by the embodiment of the invention comprehensively considers the actual course and the target course of the carrying device, so that the actual course of the carrying device is consistent with the target course; in addition, angle correction is carried out on the goods container in real time based on the actual course, the target course and the angle deviation so as to ensure that the target direction of the goods container is consistent with the target course, the problems that the goods containers driven by different robots are easy to collide and the like in the process of driving the goods container by the carrying equipment are avoided, and the transportation safety of the carrying equipment is effectively ensured; moreover, the correction process of the container is protected by setting the preset angle threshold, and the alarm processing is carried out when the condition of exceeding the preset angle threshold appears for many times, so that the transportation safety of the carrying equipment is further improved.
Example three:
as to the adjusting method for the cargo container provided in the second embodiment, an embodiment of the present invention provides an adjusting device for a cargo container, the adjusting device is applied to a conveying apparatus, the conveying apparatus is used for driving the cargo container to move, referring to a schematic structural diagram of the adjusting device for a cargo container shown in fig. 8, the adjusting device includes the following modules:
and a course obtaining module 802, configured to obtain an actual course and a target course of the handling device.
An angle deviation obtaining module 804, configured to obtain an angle deviation between a target direction of the cargo container and an actual heading of the handling apparatus.
And a container direction adjusting module 806, configured to adjust a direction of the container based on the actual heading, the target heading, and the angular deviation until the target direction of the container is consistent with the target heading of the handling device.
The adjusting device for the goods placing container provided by the embodiment of the invention can finally adjust the target direction of the goods placing container to be consistent with the target course of the carrying equipment, thereby avoiding the problems that the target direction of the goods placing container deviates from the track (target course) where the carrying equipment is supposed to run in the process of driving the goods placing container by the carrying equipment, the goods placing containers driven by different robots are easy to collide and the like, and effectively ensuring the transportation safety of the carrying equipment.
In an embodiment, the heading acquisition module 802 is further configured to: detecting the actual course of the carrying equipment through a positioning sensor on the carrying equipment; and acquiring a task to be executed by the carrying equipment, and determining the target course of the carrying equipment based on the task to be executed.
In one embodiment, the goods container is provided with a direction mark for indicating the target direction of the goods container; the angular deviation obtaining module 804 is further configured to: determining the target direction of the goods container according to the direction identifier; an angular deviation between a target orientation of the cargo container and an actual heading of the handling apparatus is calculated.
In one embodiment, the carrying equipment is used for driving the goods placing container to move in a jacking mode; the direction mark is attached to the bottom of the goods container; the angular deviation obtaining module 804 is further configured to: and identifying the target direction of the goods container indicated by the direction mark in an image identification mode.
In one embodiment, the container orientation adjustment module 806 is further configured to: estimating a theoretical rotation angle of the carrying equipment according to the actual course and the target course; calculating a correction angle required when the target direction of the cargo container is adjusted to be consistent with the target course of the carrying equipment according to the actual course, the target course, the theoretical rotation angle and the angle deviation; the orientation of the container is adjusted based on the corrected angle.
In one embodiment, the container orientation adjustment module 806 is further configured to: judging whether the correction angle is larger than a preset angle threshold value or not; when the correction angle is smaller than or equal to the preset angle threshold value, adjusting the direction of the goods container according to the correction angle; and when the correction angle is larger than the preset angle threshold value, adjusting the direction of the goods container according to the preset angle threshold value.
In an embodiment, the apparatus further includes an alarm module, configured to: when the correction angle is larger than a preset angle threshold value, recording the occurrence of a primary angle abnormal phenomenon; and when the occurrence frequency of the recorded angle abnormal phenomenon is greater than a preset frequency threshold value, initiating an alarm prompt.
In an embodiment, the apparatus further includes a heading adjustment module configured to: and adjusting the actual course of the carrying equipment based on the theoretical rotating angle of the carrying equipment so as to enable the actual course of the carrying equipment to be consistent with the target course.
The device provided by the embodiment has the same implementation principle and technical effect as the foregoing embodiment, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiment for the portion of the embodiment of the device that is not mentioned.
The adjusting method and device for a container and the computer program product for a handling device provided in the embodiments of the present invention include a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A method of adjusting a tote, the method performed by a handling apparatus configured to move the tote, the method comprising:
acquiring the actual course and the target course of the carrying equipment;
acquiring the angle deviation between the target direction of the goods container and the actual course of the carrying equipment;
adjusting the direction of the cargo container based on the actual course, the target course and the angle deviation until the target direction of the cargo container is consistent with the target course of the carrying equipment;
the step of adjusting the direction of the cargo container based on the actual heading, the target heading, and the angular deviation includes: estimating the theoretical rotation angle of the carrying equipment according to the actual course and the target course; calculating a correction angle required for adjusting the target direction of the cargo container to be consistent with the target course of the carrying equipment according to the actual course, the target course, the theoretical rotation angle and the angle deviation; adjusting the orientation of the cargo container based on the corrected angle.
2. The method of claim 1, wherein the step of obtaining the actual heading and the target heading of the handling device comprises:
detecting the actual course of the carrying equipment through a positioning sensor on the carrying equipment;
and acquiring a task to be executed by the carrying equipment, and determining the target course of the carrying equipment based on the task to be executed.
3. The method of claim 1, wherein the tote has a directional indicator disposed thereon for indicating a target direction for the tote;
the step of obtaining the angular deviation between the target direction of the cargo container and the actual course of the carrying device comprises the following steps:
determining the target direction of the goods container according to the direction identification;
and calculating the angular deviation between the target direction of the goods placing container and the actual course of the carrying equipment.
4. The method of claim 3, wherein the handling apparatus is configured to move the tote by jacking; the direction mark is attached to the bottom of the goods placing container;
the step of determining the target direction of the container according to the direction identifier comprises: and identifying the target direction of the goods container indicated by the direction mark in an image identification mode.
5. The method of claim 1, wherein the step of adjusting the orientation of the tote based on the revised angle comprises:
judging whether the correction angle is larger than a preset angle threshold value or not;
when the correction angle is smaller than or equal to a preset angle threshold value, adjusting the direction of the goods container according to the correction angle;
and when the correction angle is larger than a preset angle threshold value, adjusting the direction of the goods container according to the preset angle threshold value.
6. The method of claim 5, further comprising:
when the correction angle is larger than a preset angle threshold value, recording the occurrence of a primary angle abnormal phenomenon;
and when the recorded occurrence frequency of the angle abnormal phenomenon is greater than a preset frequency threshold value, initiating an alarm prompt.
7. The method of claim 1, further comprising:
and adjusting the actual course of the carrying equipment based on the theoretical rotation angle of the carrying equipment so as to enable the actual course of the carrying equipment to be consistent with the target course.
8. An adjusting device for a loading container, which is applied to a carrying device for moving the loading container, the method comprising:
the course obtaining module is used for obtaining the actual course and the target course of the carrying equipment;
the angle deviation acquisition module is used for acquiring the angle deviation between the target direction of the goods container and the actual course of the carrying equipment;
the direction adjusting module is used for adjusting the direction of the goods container based on the actual course, the target course and the angle deviation until the target direction of the goods container is consistent with the target course of the carrying equipment;
the direction adjustment module is further configured to: estimating the theoretical rotation angle of the carrying equipment according to the actual course and the target course; calculating a correction angle required for adjusting the target direction of the cargo container to be consistent with the target course of the carrying equipment according to the actual course, the target course, the theoretical rotation angle and the angle deviation; adjusting the orientation of the cargo container based on the corrected angle.
9. A handling apparatus, characterized by comprising: a processor and a storage device;
the storage device has stored thereon a computer program which, when executed by the processor, performs the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of the claims 1 to 7.
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