CN113816050A - Position adjusting method and device, electronic equipment and computer readable medium - Google Patents
Position adjusting method and device, electronic equipment and computer readable medium Download PDFInfo
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- 238000012545 processing Methods 0.000 claims description 7
- 238000000605 extraction Methods 0.000 claims description 5
- 238000012856 packing Methods 0.000 abstract 2
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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
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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 embodiment of the disclosure discloses a position adjusting method, a position adjusting device, electronic equipment and a computer readable medium. One embodiment of the method comprises: in response to detecting a to-be-processed position deviation signal, extracting a to-be-processed goods storage container identifier from the to-be-processed position deviation signal; constructing and sending a reset instruction based on the identifier of the goods storage container to be processed, wherein the reset instruction is used for instructing a placing instrument for placing the goods storage container on the three-dimensional shelf to reset the goods storage container to be processed corresponding to the identifier of the goods storage container to be processed; and sending a completion instruction corresponding to the reset completion signal in response to detecting the reset completion signal corresponding to the to-be-processed position deviation signal. This embodiment has realized reseing to the packing box, the collision condition when having reduced the packing box and having deposited.
Description
Technical Field
Embodiments of the present disclosure relate to the field of data processing technologies, and in particular, to a position adjustment method, an apparatus, an electronic device, and a computer-readable medium.
Background
With the rapid development of the logistics industry, various goods can be rapidly circulated in various regions. In order to increase the circulation speed of the goods, goods warehouses may be arranged in various regions. The goods warehouse can store goods in advance, and when goods orders exist, the goods warehouse can rapidly deliver goods for regions. A goods warehouse typically includes a plurality of shelf storage systems for storing goods storage containers. The stereoscopic goods shelf storing and taking system can comprise stereoscopic goods shelves, goods storage containers, placing apparatuses such as a shuttle car or a stacker and the like, and even comprises equipment such as a conveying line at the rear part. The cargo storage containers may be containers, pallets, or other mechanisms in which cargo may be placed. In order to improve the space utilization rate and efficiency of the goods warehouse, the storage of the goods storage containers on the stereoscopic goods shelf can be performed by a placing instrument. The placing instrument can accurately reach the position, corresponding to the goods storage container, in the three-dimensional goods shelf through the rail, and the goods storage container is stored.
The storage of goods storage container on current three-dimensional goods shelves has following problem:
firstly, various operations of the placing instrument on the three-dimensional shelf inevitably bring about vibration, and the goods storage container stored on the three-dimensional shelf for a long time may be displaced along with the vibration, so that the placing instrument collides when storing the displaced goods storage container;
secondly, the shock may cause the goods storage container to fall off the stereoscopic shelf, and the goods storage container is lost.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a position adjustment method, apparatus, electronic device and computer readable medium to solve the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a position adjustment method applied to a stereoscopic shelf access system including a stereoscopic shelf, a cargo storage container, and a placement apparatus, the method including: in response to detecting a to-be-processed position deviation signal, extracting a to-be-processed goods storage container identifier from the to-be-processed position deviation signal; constructing and sending a reset instruction based on the identifier of the goods storage container to be processed, wherein the reset instruction is used for instructing a placing instrument for placing the goods storage container on the three-dimensional shelf to reset the goods storage container to be processed corresponding to the identifier of the goods storage container to be processed; and sending a completion instruction corresponding to the reset completion signal in response to detecting the reset completion signal corresponding to the to-be-processed position deviation signal.
In a second aspect, some embodiments of the present disclosure provide a position adjustment method applied to a stereoscopic shelf access system including a stereoscopic shelf, a cargo storage container, and a placement device, the method including: in response to receiving a reset instruction, inquiring an identifier of a to-be-processed goods storage container contained in the reset instruction, wherein the identifier of the to-be-processed goods storage container is used for indicating the to-be-processed goods storage container which is displaced, and the reset instruction is used for indicating that the to-be-processed goods storage container corresponding to the identifier of the to-be-processed goods storage container is reset; and responding to the arrival of the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier, and resetting the to-be-processed goods storage container.
In a third aspect, some embodiments of the present disclosure provide a position adjustment device for a stereoscopic shelf access system including a stereoscopic shelf, a cargo storage container, and a placement apparatus, the position adjustment device including: an identification extraction unit configured to extract a to-be-processed goods storage container identification from a to-be-processed position deviation signal in response to detection of the to-be-processed position deviation signal; the position adjusting unit is configured to construct and send a reset instruction based on the identifier of the goods storage container to be processed, and the reset instruction is used for instructing a placing instrument for placing the goods storage container on the stereoscopic shelf to reset the goods storage container to be processed corresponding to the identifier of the goods storage container to be processed; a position adjustment completion unit configured to send a completion instruction corresponding to the reset completion signal in response to detection of a reset completion signal corresponding to the to-be-processed position offset signal.
In a fourth aspect, some embodiments of the present disclosure provide a position adjustment device, which is applied to a stereoscopic shelf access system including a stereoscopic shelf, a cargo storage container, and a placement apparatus, the device including: the system comprises a to-be-processed goods storage container identification query unit, a to-be-processed goods storage container identification query unit and a reset instruction processing unit, wherein the to-be-processed goods storage container identification query unit is configured to query a to-be-processed goods storage container identification contained in a reset instruction in response to receiving the reset instruction, the to-be-processed goods storage container identification is used for indicating a displaced to-be-processed goods storage container, and the reset instruction is used for indicating that the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identification is reset; the resetting unit is configured to perform resetting operation on the goods to be processed storage container in response to the goods to be processed storage container corresponding to the goods to be processed storage container identification.
In a fifth aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first or second aspects.
In a sixth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, where the program when executed by a processor implements the method described in any of the implementations of the first or second aspect.
The above embodiments of the present disclosure have the following beneficial effects: through the position adjusting method of some embodiments of the present disclosure, the goods storage container to be processed is reset, and the collision of the goods storage container during storage is reduced. Specifically, the reasons for the collision when the cargo storage container is stored are: the cargo storage container is displaced. Based on this, according to some embodiments of the present disclosure, an identifier of a to-be-processed cargo storage container corresponding to the to-be-processed position offset signal is first obtained, and then a reset instruction is constructed to control the placing instrument to reset the displaced cargo storage container. Thus, the collision of the cargo storage container during storage can be reduced. And the reset operation is completed, so that the situations of losing the goods storage container and the like can be further avoided.
Drawings
The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of an application scenario of a position adjustment method of some embodiments of the present disclosure;
fig. 2 is a flow diagram of some embodiments of a position adjustment method according to the present disclosure;
FIG. 3 is a flow chart of further embodiments of a position adjustment method according to the present disclosure;
FIG. 4 is a flow chart of still further embodiments of a position adjustment method according to the present disclosure;
FIG. 5 is a flow chart of still further embodiments of a position adjustment method according to the present disclosure;
FIG. 6 is a schematic structural diagram of some embodiments of a position adjustment apparatus according to the present disclosure;
FIG. 7 is a schematic structural diagram of other embodiments of a position adjustment apparatus according to the present disclosure;
FIG. 8 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic diagram of an application scenario of a position adjustment method according to some embodiments of the present disclosure. Fig. 1 includes a server 101, a goods storage container 102, a sensor 103, a shelf 104 and a placing instrument 105 of the shelf access system. The goods storage containers 102 are placed on the three-dimensional shelf 104, the sensors 103 are arranged on the three-dimensional shelf 104 corresponding to the goods storage containers 102, and the number of the sensors 103 is determined according to actual needs. The sensor 103 may be in data connection with the server 101 to send a detection signal to the server 101. When the detection signal received by the server 101 is the to-be-processed position deviation signal, it indicates that there is a displaced cargo storage container. At this time, the server 101 may send an instruction to the placing apparatus 105 to control the placing apparatus 105 to adjust the position of the cargo storage container 102 corresponding to the to-be-processed position offset signal. Therefore, the situation that the placing device 105 collides when normally storing the cargo storage container 102 or cannot store the cargo storage container 102 is avoided, and the storage efficiency of the cargo storage container 102 is improved.
It should be understood that the number of servers 101, cargo storage containers 102, sensors 103, stereoscopic shelves 104, and presentation instruments 105 in fig. 1 are merely illustrative. There may be any number of servers 101, cargo storage containers 102, sensors 103, stereoscopic shelves 104, and presentation instruments 105, as desired for an implementation.
With continued reference to fig. 2, fig. 2 illustrates a flow 200 of some embodiments of a position adjustment method according to the present disclosure. The position adjusting method is applied to a three-dimensional goods shelf storing and taking system comprising a three-dimensional goods shelf, a goods storage container and a placing instrument, and comprises the following steps:
In some embodiments, an execution subject of the position adjustment method (for example, the server 101 shown in fig. 1) may receive the to-be-processed position deviation signal sent by the sensor 103 through a wired connection manner or a wireless connection manner. It should be noted that the wireless connection means may include, but is not limited to, a 3G/4G/5G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, a uwb (ultra wideband) connection, and other wireless connection means now known or developed in the future. In the stereoscopic shelf access system, the placing device 105 is required to access the goods storage container. The placement instrument 105 may be a shuttle, a roadway stacker, a robotic arm, or the like. The placing device 105 can move between two adjacent stereoscopic shelves to store and take goods storage containers on the stereoscopic shelves. When the placing device 105 is used for storing and taking goods storage containers on the three-dimensional shelf, vibration is inevitably brought. The position of the cargo storage container 102 on the shelf 104 may be displaced due to vibration from the placement device 105, and the like. The sensor 103 is disposed at a designated position on the shelf 104 corresponding to the cargo storage container 102 (for example, a position on the shelf 104 corresponding to the lower portion, the back portion, etc. of the cargo storage container 102), and may be used to detect the possibility of displacement of the cargo storage container 102 or accurately detect the displacement of the cargo storage container 102. For example, the sensor 103 may be a pressure sensor disposed in a lower portion of the cargo storage container 102. The pressure sensor starts to calculate the storage time of the cargo storage container 102 after detecting the cargo storage container 102, and sends a to-be-processed position deviation signal when the storage time exceeds a set time threshold. The sensor 103 may also be an optical sensor disposed at a position corresponding to the back of the cargo storage container 102. When the light sensor is shielded by the goods storage container 102, the storage time of the goods storage container 102 is calculated, and when the storage time exceeds a set time threshold value, a to-be-processed position deviation signal is sent out. The cargo storage container 102 may also be provided with both a pressure sensor and an optical sensor to improve the accuracy of the detection of the cargo storage container 102. For example, a displacement of the cargo storage container 102 may be indicated when the light sensor is still timing and the pressure sensor detects that the cargo storage container 102 is not present on the shelf 104.
The sensor 103 is in signal connection with the execution body. When the execution body detects the to-be-processed position deviation signal, it is described that the cargo storage container 102 is displaced by the sensor 103. Since the sensor 103 is disposed corresponding to the corresponding cargo storage container 102, the to-be-processed position deviation signal sent by the sensor 103 may carry an identifier of the corresponding cargo storage container 102, i.e., an identifier of the to-be-processed cargo storage container. The execution body may extract the identification of the storage container of the goods to be processed from the above-mentioned deviation signal of the position to be processed.
And 202, constructing and sending a reset instruction based on the identifier of the goods storage container to be processed.
In some embodiments, to adjust the displaced cargo storage container 102, the execution agent may construct and send a reset instruction via the identification of the cargo storage container to be processed. The reset instruction may be used to instruct the placing device 105 to place the goods storage container on the stereoscopic shelf to reset the goods storage container to be processed corresponding to the identifier of the goods storage container to be processed.
When the placing device 105 completes the resetting of the goods storage container to be processed according to the resetting instruction, the goods storage container to be processed returns to the normal position. At this point, the presentation instrument 105 may send a reset complete signal to the performing body. The execution body may send a completion instruction corresponding to the reset completion signal to the placing instrument 105, so that the placing instrument 105 continues to execute other instructions after receiving the completion instruction. Therefore, the situations that the placing instrument 105 collides with the displaced cargo storage container 102 during normal operation can be avoided in time, and the storage efficiency of the cargo storage container 102 is improved. Meanwhile, the working efficiency of the placing instrument 105 can be ensured.
The position adjusting method disclosed by some embodiments of the present disclosure performs the reset operation on the cargo storage container to be processed, thereby reducing the collision when the cargo storage container is stored. Specifically, the reasons for the collision when the cargo storage container is stored are: the cargo storage container is displaced. Based on this, according to some embodiments of the present disclosure, an identifier of a to-be-processed cargo storage container corresponding to the to-be-processed position offset signal is first obtained, and then a reset instruction is constructed to control the placing instrument to reset the displaced cargo storage container. Thus, the collision of the cargo storage container during storage can be reduced. And the reset operation is completed, so that the situations of losing the goods storage container and the like can be further avoided.
With continued reference to fig. 3, fig. 3 illustrates a flow 300 of some embodiments of a position adjustment method according to the present disclosure. The position adjusting method is applied to a three-dimensional goods shelf storing and taking system comprising a three-dimensional goods shelf, a goods storage container and a placing instrument, and comprises the following steps:
The content of step 301 is the same as that of step 201, and is not described in detail here.
As can be seen from the above description, the sensor 103 is disposed corresponding to the cargo storage container 102, and the to-be-processed position deviation signal output by the sensor 103 includes the to-be-processed cargo storage container identifier. The execution main body can determine the corresponding goods storage container to be processed through the goods storage container to be processed identifier, and further inquire first position information of the goods storage container to be processed on the three-dimensional shelf. The first location information may be, for example, at row 2, column 3 of the stereoscopic shelf 104.
After the first position information is obtained, the position of the goods storage container to be processed needs to be adjusted by the placement device. In practice, the shelf 104 may be configured with a plurality of display devices 105. The executing agent may find a placement instrument 105 that is free or closest to the to-be-processed goods storage container from the plurality of placement instruments 105 as a target placement instrument. Which is beneficial to improving the storage efficiency of the cargo storage container 102.
And 304, constructing a reset instruction through the instrument identifier of the target placing instrument and the first position information, and sending the reset instruction to the target placing instrument.
After the target placement instrument is determined, the execution main body can further acquire an instrument identifier of the target placement instrument. Then, the execution main body can construct a reset instruction through the instrument identifier of the target placing instrument and the first position information, and sends the reset instruction to the target placing instrument.
In some optional implementations of some embodiments, the to-be-processed position deviation signal includes first time information, where the first time information is used to indicate a time when the to-be-processed goods storage container is not moved by the placement device on the stereoscopic shelf; and, the constructing a reset command by the instrument identifier of the target placement instrument and the first position information may include: and in response to the to-be-processed position deviation signal including the first time information, constructing a first reset instruction with reset instruction content.
The sensor 103 can record the time when the goods storage container to be processed is not moved by the placing instrument on the stereoscopic shelf. In this way, the to-be-processed position deviation signal may include first time information, which may be used to indicate a time when the to-be-processed goods storage container is not moved by the placing apparatus on the stereoscopic shelf. The first time information can reflect the displacement of the goods storage container to be processed under the influence of various vibrations for a long time. Correspondingly, when the execution main body detects that the to-be-processed position deviation signal comprises the first time information, the execution main body can construct a first reset instruction with the instruction content being reset.
In some optional implementations of some embodiments, the to-be-processed position deviation signal includes second time information, where the second time information is used to indicate a time when the to-be-processed goods storage container leaves the stereoscopic shelf; and, the constructing a reset command by the instrument identifier of the target placement instrument and the first position information may include: and in response to the to-be-processed position deviation signal including the second time information, constructing a second reset instruction with the instruction content of homing.
The sensor 103 may also record the time at which the storage container of goods to be processed leaves the stereoscopic shelf. In this way, the to-be-processed position deviation signal includes the second time information indicating the time at which the to-be-processed goods storage container leaves the stereoscopic shelf. The second time can reflect the situation that the goods storage container to be processed falls off the three-dimensional goods shelf under the influence of various shocks for a long time or stays at other positions and is not normally put back to the three-dimensional goods shelf. At this point, the execution subject may construct a second reset instruction whose contents are to be restored.
The content of step 305 is the same as that of step 203, and is not described in detail here.
After the completion instruction is issued, the execution main body may clear the first time information or the second time information included in the to-be-processed position offset signal, so that the sensor 103 may count the storage time of the cargo storage container 102 again. Thus, the accuracy of detecting the cargo storage container 102 is improved, and the storage efficiency of the cargo storage container 102 is improved.
With further reference to fig. 4, a flow 400 of further embodiments of a position adjustment method is illustrated. The process 400 of the position adjustment method is applied to a three-dimensional shelf storage and retrieval system comprising a three-dimensional shelf, a goods storage container and a placing instrument, and comprises the following steps:
In some embodiments, an execution subject (for example, the placement device 105 shown in fig. 1) on which the position adjustment method is executed may receive a reset instruction from the server 101 shown in fig. 1 through a wired connection manner or a wireless connection manner, where the to-be-processed goods storage container identifier is used to indicate a displaced to-be-processed goods storage container, and the reset instruction is used to indicate that a reset operation is performed on the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier.
Typically, the execution agent performs the removal and replacement operations on the product storage containers 102 on the stereoscopic shelves 104 in accordance with the instructions. When the execution subject receives the reset instruction, the execution subject may not execute the current instruction first, but may process the reset instruction with a higher priority. The execution main body can analyze the reset instruction so as to inquire the identifier of the goods storage container to be processed, which is contained in the reset instruction. The identification of the storage container for the goods to be processed may indicate the storage container for the goods to be processed in which the displacement occurs.
And 402, in response to the arrival of the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier, resetting the to-be-processed goods storage container.
In some embodiments, the pending goods storage container identifier may identify a specific location of the corresponding pending goods storage container on the stereoscopic shelf. The execution main body can find the goods storage container to be processed according to the goods storage container to be processed identification, and then reset the goods storage container to be processed.
With further reference to fig. 5, a flow 500 of further embodiments of a position adjustment method is illustrated. The process 500 of the position adjustment method is applied to a three-dimensional shelf storage and retrieval system comprising a three-dimensional shelf, a goods storage container and a placing instrument, and comprises the following steps:
And 502, in response to the arrival of the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier, resetting the to-be-processed goods storage container.
In some embodiments, the pending goods storage container identifier may identify a specific location of the corresponding pending goods storage container on the stereoscopic shelf. The execution main body can find the goods storage container to be processed according to the goods storage container to be processed identification, and then reset the goods storage container to be processed.
The contents of step 501 and step 502 are the same as those of step 401 and step 402, and are not described in detail here.
In some optional implementations of some embodiments, the resetting operation performed on the to-be-processed cargo storage container may include: and setting reset distance information in response to the instruction content of the reset instruction being reset, and carrying out reset operation according to the reset distance information.
When the instruction content of the reset instruction is reset, it indicates that the goods storage container to be processed is displaced on the stereoscopic shelf 104. Since the goods storage containers to be processed are placed at the set distance on the stereoscopic shelf 104, the execution body may set the reset distance information and perform the reset operation according to the reset distance information. Wherein the reset distance information may be used to adjust a capture distance of the to-be-processed goods storage container. For example, the execution body may include robot arms, and the distance between the robot arms may be controlled to be a distance corresponding to the reset distance information, and then the reset operation may be performed by the robot arms.
In some optional implementation manners of some embodiments, the setting the reset distance information may include:
the first step is to acquire distance information between the goods storage containers on the three-dimensional shelf.
In order to set the reset distance information, the execution body may first acquire the distance information between the goods storage containers on the above-described stereoscopic shelf. Wherein the distance information includes at least one of: the maximum distance between adjacent cargo storage containers and the minimum distance between adjacent cargo storage containers. When the goods storage container to be processed is in a cuboid structure, the maximum distance between the adjacent goods storage containers and the minimum distance between the adjacent goods storage containers have the same value; otherwise, the maximum distance between the adjacent cargo storage containers and the minimum distance between the adjacent cargo storage containers are different in value.
And secondly, setting reset distance information based on the distance information.
When the maximum distance between the adjacent cargo storage containers is equal to the minimum distance between the adjacent cargo storage containers, the maximum distance of the displacement of a certain cargo storage container to be processed is the maximum distance between the adjacent cargo storage containers or the minimum distance between the adjacent cargo storage containers. The execution body may set the reset distance information according to the maximum distance of the adjacent goods storage container or the minimum distance of the adjacent goods storage container. For example, the maximum distance between adjacent cargo storage containers and the minimum distance between adjacent cargo storage containers both take on the value of 5 centimeters. The length of the goods storage container to be processed facing the execution main body is 50 cm, and the distance of displacement of the goods storage container to be processed to any side is 5 cm. Correspondingly, the reset distance information may be set to 60 centimeters. In this way, the resetting operation of the goods storage container to be processed can be ensured within 60 cm.
When the maximum distance between the adjacent goods storage containers and the minimum distance between the adjacent goods storage containers are different in value, when the goods storage containers to be processed are displaced, the maximum distance of the displacement is the minimum distance between the adjacent goods storage containers. At this time, the execution body may set the reset distance information according to the minimum distance of the adjacent goods storage containers. For example, the maximum distance between adjacent cargo storage containers is 5 cm, and the minimum distance between adjacent cargo storage containers is 2 cm. The length of the goods storage container to be processed facing the execution main body is 50 cm, and the distance of displacement of the goods storage container to be processed to any side is 2 cm. Correspondingly, the reset distance information may be set to 54 centimeters. In this way, a reset operation of the goods storage container to be processed within 54 cm can be ensured.
In some optional implementation manners of some embodiments, the setting the reset distance information may include:
firstly, acquiring a current image of the goods storage container to be processed on the three-dimensional shelf.
The execution main body can also directly acquire the current image of the goods storage container to be processed on the three-dimensional shelf. The current image may reflect actual displacement information of the storage containers of the goods to be processed on the stereoscopic shelf 104.
Second, reset distance information is set based on the current image.
The current image contains actual displacement information of the to-be-processed goods storage container on the stereoscopic shelf 104, and the execution subject can perform operations such as image recognition on the current image to determine accurate displacement information of the to-be-processed goods storage container. Therefore, the accuracy and effectiveness of resetting the cargo storage container to be processed can be improved by setting the reset distance information based on the current image.
In some optional implementations of some embodiments, the above resetting the to-be-processed cargo storage container may include the following steps:
and step one, responding to the instruction content of the reset instruction as a homing, and inquiring second position information of the goods to be processed storage container corresponding to the goods to be processed storage container identifier.
When the instruction content of the reset instruction is the homing, it indicates that the goods storage container to be processed is not on the stereoscopic shelf 104. At this time, the executing agent may query the second location information of the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier. The second location information is other preset locations of the storage container for goods to be processed.
And secondly, acquiring a to-be-processed goods storage container from the target position corresponding to the second position information, and placing the to-be-processed goods storage container at the corresponding position of the three-dimensional shelf.
The execution main body can reach the corresponding target position according to the second position information, and acquire the goods storage container to be processed from the target position. Then, the executive body can place the goods storage container to be processed at the corresponding position of the three-dimensional shelf. In this manner, the return of the pending cargo storage containers from other locations to the stereoscopic shelf 104 is completed. The loss of the goods storage container is avoided, and the utilization rate of the goods storage container is improved.
In some optional implementations of some embodiments, the resetting the to-be-processed cargo storage container includes: and sending an alarm signal in response to the condition that the goods storage container to be processed cannot be placed at the corresponding position of the three-dimensional goods shelf.
When the to-be-processed goods storage container is dropped from the stereoscopic shelf 104, the executing body may not be able to reset the to-be-processed goods storage container to the stereoscopic shelf 104. At this time, the execution main body may send an alarm signal to prompt a technician to reset the cargo storage container to be processed.
When the execution main body completes the reset operation, a reset completion signal may be transmitted to the server machine 101. The reset completion signal may include a reset instruction to prompt the server 101 that the reset of the to-be-processed goods storage container corresponding to which reset instruction is completed.
The server 101 may send a completion instruction after receiving the reset completion signal. At this time, the whole process of the to-be-processed goods storage container is completed, and the execution subject can continue to execute the instruction before the reset instruction. Thus, normal efficiency of the execution main body can be ensured.
With further reference to fig. 6, as an implementation of the methods illustrated in the above figures, the present disclosure provides some embodiments of a position adjustment apparatus, which correspond to those method embodiments illustrated in fig. 2.
As shown in fig. 6, the position adjustment apparatus 600 of some embodiments includes: an identifier extraction unit 601, a position adjustment unit 602, and a position adjustment completion unit 603. The identifier extraction unit 601 is configured to extract the identifier of the goods storage container to be processed from the to-be-processed position deviation signal in response to the detection of the to-be-processed position deviation signal; a position adjusting unit 602, configured to construct and send a reset instruction based on the identifier of the to-be-processed goods storage container, where the reset instruction is used to instruct a placing apparatus that places the goods storage container on the stereoscopic shelf to perform a reset operation on the to-be-processed goods storage container corresponding to the identifier of the to-be-processed goods storage container; a position adjustment completion unit 603 configured to send a completion instruction corresponding to the reset completion signal in response to detection of the reset completion signal corresponding to the to-be-processed position offset signal.
In an optional implementation manner of some embodiments, the position adjusting unit 602 may include: a first position information inquiry subunit (not shown), a target placing instrument inquiry subunit (not shown), and a position adjusting subunit (not shown). The first position information inquiring subunit is configured to inquire first position information of the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier on the stereoscopic shelf; a target placement instrument query subunit configured to query a target placement instrument of the at least one placement instrument; and the position adjusting subunit is configured to construct a reset instruction through the instrument identifier of the target placement instrument and the first position information, and send the reset instruction to the target placement instrument.
In an optional implementation manner of some embodiments, the to-be-processed position deviation signal includes first time information, where the first time information is used to indicate a time when the to-be-processed goods storage container is not moved by the placing apparatus on the stereoscopic shelf; and, the position adjustment subunit may include: and a first reset instruction construction module (not shown in the figure) configured to respond that the to-be-processed position deviation signal comprises first time information, and construct a first reset instruction with reset instruction content.
In an optional implementation manner of some embodiments, the to-be-processed position deviation signal includes second time information, and the second time information is used for indicating the time when the to-be-processed goods storage container leaves the stereoscopic shelf; and, the position adjustment subunit includes: and a second reset instruction constructing module (not shown in the figure) configured to construct a second reset instruction with the instruction content being a reset instruction in response to the to-be-processed position deviation signal including the second time information.
In an optional implementation manner of some embodiments, the position adjustment apparatus 600 further includes: and an information zero setting unit (not shown in the figure) configured to zero the first time information or the second time information included in the to-be-processed position offset signal.
It will be understood that the elements described in the apparatus 600 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 600 and the units included therein, and are not described herein again.
With further reference to fig. 7, as an implementation of the methods illustrated in the above figures, the present disclosure provides some embodiments of a position adjustment apparatus, which correspond to those of fig. 4, and which may be particularly applicable to a shelf accessing system including a shelf, a cargo storage container, and a placement device.
As shown in fig. 7, the position adjustment apparatus 700 of some embodiments includes: the device comprises an identification inquiry unit 701 and a resetting unit 702 of the goods storage container to be processed. The to-be-processed goods storage container identifier query unit 701 is configured to query, in response to receiving a reset instruction, a to-be-processed goods storage container identifier included in the reset instruction, where the to-be-processed goods storage container identifier is used to indicate a displaced to-be-processed goods storage container, and the reset instruction is used to indicate that a reset operation is performed on the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier; the resetting unit 702 is configured to perform a resetting operation on the to-be-processed goods storage container in response to reaching the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier.
In an optional implementation manner of some embodiments, the reset unit 702 may include: and a first reset subunit (not shown in the figure) configured to, in response to the content of the reset instruction being reset, set reset distance information for adjusting the capturing distance of the to-be-processed cargo storage container, and perform a reset operation based on the reset distance information.
In an optional implementation manner of some embodiments, the first reset subunit may include: a distance information acquisition module (not shown in the figure) and a first reset distance information setting module (not shown in the figure). The distance information acquisition module is configured to acquire distance information between the goods storage containers on the stereoscopic shelf, wherein the distance information includes at least one of the following: the maximum distance between adjacent cargo storage containers and the minimum distance between adjacent cargo storage containers; and the first reset distance information setting module is configured to set reset distance information based on the distance information.
In an optional implementation manner of some embodiments, the first reset subunit may include: an image acquisition module (not shown in the figure) and a second reset distance information setting module (not shown in the figure). The image acquisition module is configured to acquire a current image of the to-be-processed goods storage container on the three-dimensional shelf; and a second reset distance information setting module configured to set reset distance information based on the current image.
In an optional implementation manner of some embodiments, the reset unit 702 may include: a second location information querying subunit (not shown in the figure) and a second resetting subunit (not shown in the figure). The second position information inquiry subunit is configured to inquire second position information of the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier in response to the instruction content of the reset instruction being homing; and the second resetting subunit is configured to acquire the to-be-processed goods storage container from the target position corresponding to the second position information and place the to-be-processed goods storage container at the corresponding position of the stereoscopic shelf.
In an optional implementation manner of some embodiments, the reset unit 702 may include: and an alarm subunit (not shown in the figures) configured to send an alarm signal in response to the failure to place the to-be-processed goods storage container at the corresponding position of the stereoscopic shelf.
In an optional implementation manner of some embodiments, the position adjustment apparatus 700 may further include: a reset completion signal transmitting unit (not shown in the figure) and a state restoring unit (not shown in the figure). Wherein the reset completion signal transmitting unit is configured to transmit a reset completion signal in response to completion of the reset operation; and the state recovery unit is configured to respond to receiving a completion instruction corresponding to the reset completion signal and execute an instruction before the reset instruction.
It will be understood that the units described in the apparatus 700 correspond to the various steps in the method described with reference to fig. 4. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 700 and the units included therein, and will not be described herein again.
As shown in fig. 8, an electronic device 800 may include a processing means (e.g., central processing unit, graphics processor, etc.) 801 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)802 or a program loaded from a storage means 808 into a Random Access Memory (RAM) 803. In the RAM803, various programs and data necessary for the operation of the electronic apparatus 800 are also stored. The processing apparatus 801, the ROM 802, and the RAM803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.
Generally, the following devices may be connected to the I/O interface 805: input devices 806 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 807 including, for example, a Liquid Crystal Display (LCD), speakers, vibrators, and the like; storage 808 including, for example, magnetic tape, hard disk, etc.; and a communication device 809. The communication means 809 may allow the electronic device 800 to communicate wirelessly or by wire with other devices to exchange data. While fig. 8 illustrates an electronic device 800 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 8 may represent one device or may represent multiple devices as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through communications device 809, or installed from storage device 808, or installed from ROM 802. The computer program, when executed by the processing apparatus 801, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: in response to detecting a to-be-processed position deviation signal, extracting a to-be-processed goods storage container identifier from the to-be-processed position deviation signal; constructing and sending a reset instruction based on the identifier of the goods storage container to be processed, wherein the reset instruction is used for instructing a placing instrument for placing the goods storage container on the three-dimensional shelf to reset the goods storage container to be processed corresponding to the identifier of the goods storage container to be processed; and sending a completion instruction corresponding to the reset completion signal in response to detecting the reset completion signal corresponding to the to-be-processed position deviation signal.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes an identification extraction unit, a position adjustment unit, and a position adjustment completion unit. The names of the units do not in some cases form a limitation on the units themselves, for example, the position adjustment unit may also be described as a "unit that controls the placement device to reposition the container to be treated".
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (16)
1. A position adjusting method is applied to a three-dimensional goods shelf storing and taking system comprising a three-dimensional goods shelf, a goods storage container and a placing instrument, and comprises the following steps:
in response to detecting a to-be-processed position deviation signal, extracting a to-be-processed goods storage container identifier from the to-be-processed position deviation signal;
constructing and sending a reset instruction based on the identifier of the goods storage container to be processed, wherein the reset instruction is used for instructing a placing instrument for placing the goods storage container on the three-dimensional shelf to reset the goods storage container to be processed corresponding to the identifier of the goods storage container to be processed;
and sending a completion instruction corresponding to the reset completion signal in response to detecting the reset completion signal corresponding to the to-be-processed position deviation signal.
2. The method of claim 1, wherein said constructing and sending a reset instruction based on said pending cargo storage container identification comprises:
inquiring first position information of the goods to be processed storage container on the stereoscopic shelf, which corresponds to the goods to be processed storage container identification;
querying a target placement instrument of the at least one placement instrument;
and constructing a reset instruction through the instrument identifier of the target placement instrument and the first position information, and sending the reset instruction to the target placement instrument.
3. The method of claim 2, wherein the pending position offset signal comprises first time information indicating a time when the pending goods storage container is not moved by the placement instrument on the shelf; and
the constructing a reset instruction through the instrument identifier of the target placement instrument and the first position information comprises:
and in response to the to-be-processed position deviation signal comprising the first time information, constructing a first reset instruction with reset instruction content.
4. The method of claim 3, wherein the pending position offset signal comprises second time information indicating a time at which the pending goods storage container left the stereoscopic shelf; and
the constructing a reset instruction through the instrument identifier of the target placement instrument and the first position information comprises:
and in response to the to-be-processed position deviation signal comprising second time information, constructing a second reset instruction with the instruction content of homing.
5. The method of claim 4, wherein the method further comprises:
and clearing the first time information or the second time information contained in the position deviation signal to be processed.
6. A position adjusting method is applied to a three-dimensional goods shelf storing and taking system comprising a three-dimensional goods shelf, a goods storage container and a placing instrument, and comprises the following steps:
in response to receiving a reset instruction, inquiring an identifier of a to-be-processed goods storage container contained in the reset instruction, wherein the identifier of the to-be-processed goods storage container is used for indicating the to-be-processed goods storage container which is displaced, and the reset instruction is used for indicating that the to-be-processed goods storage container corresponding to the identifier of the to-be-processed goods storage container is reset;
and responding to the arrival of the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identifier, and resetting the to-be-processed goods storage container.
7. The method of claim 6, wherein said resetting said pending cargo storage container comprises:
and responding to the instruction content of the reset instruction, setting reset distance information, and carrying out reset operation according to the reset distance information, wherein the reset distance information is used for adjusting the capture distance of the goods storage container to be processed.
8. The method of claim 7, wherein the setting reset distance information comprises:
acquiring distance information between the cargo storage containers on the stereoscopic shelf, wherein the distance information comprises at least one of the following items: the maximum distance between adjacent cargo storage containers and the minimum distance between adjacent cargo storage containers;
resetting distance information based on the distance information.
9. The method of claim 7, wherein the setting reset distance information comprises:
acquiring a current image of the goods storage container to be processed on the three-dimensional shelf;
reset distance information is set based on the current image.
10. The method of claim 6, wherein said resetting said pending cargo storage container comprises:
responding to the instruction content of the reset instruction as homing, and inquiring second position information of the goods storage container to be processed corresponding to the goods storage container to be processed identifier;
and acquiring a to-be-processed goods storage container from the target position corresponding to the second position information, and placing the to-be-processed goods storage container at the corresponding position of the three-dimensional shelf.
11. The method of claim 10, wherein said resetting said pending cargo storage container comprises:
and sending an alarm signal in response to the condition that the goods storage container to be processed cannot be placed at the corresponding position of the three-dimensional shelf.
12. The method of claim 6, wherein the method further comprises:
in response to completion of the reset operation, sending a reset completion signal;
and in response to receiving a completion instruction corresponding to the reset completion signal, executing an instruction before the reset instruction.
13. The utility model provides a position adjustment device, is applied to the three-dimensional goods shelves access system who contains three-dimensional goods shelves, goods storage container and put the apparatus, includes:
an identification extraction unit configured to extract a to-be-processed goods storage container identification from a to-be-processed position deviation signal in response to detection of the to-be-processed position deviation signal;
the position adjusting unit is configured to construct and send a reset instruction based on the identifier of the goods storage container to be processed, and the reset instruction is used for instructing a placing instrument for placing the goods storage container on the stereoscopic shelf to reset the goods storage container to be processed corresponding to the identifier of the goods storage container to be processed;
a position adjustment completion unit configured to send a completion instruction corresponding to the reset completion signal in response to detection of a reset completion signal corresponding to the to-be-processed position offset signal.
14. The utility model provides a position adjustment device, is applied to the three-dimensional goods shelves access system who contains three-dimensional goods shelves, goods storage container and put the apparatus, includes:
the system comprises a to-be-processed goods storage container identification query unit, a to-be-processed goods storage container identification query unit and a reset instruction processing unit, wherein the to-be-processed goods storage container identification query unit is configured to query a to-be-processed goods storage container identification contained in a reset instruction in response to receiving the reset instruction, the to-be-processed goods storage container identification is used for indicating a displaced to-be-processed goods storage container, and the reset instruction is used for indicating that the to-be-processed goods storage container corresponding to the to-be-processed goods storage container identification is reset;
the resetting unit is configured to perform resetting operation on the goods to be processed storage container in response to the goods to be processed storage container corresponding to the goods to be processed storage container identification.
15. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
a sensor for detecting position information;
when executed by the one or more processors, cause the one or more processors to implement a method as claimed in any one of claims 1 to 5 or 6 to 12.
16. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any of claims 1 to 5 or 6 to 12.
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