CN115488048A - Sorting and placing method and system based on fresh sorting robot - Google Patents
Sorting and placing method and system based on fresh sorting robot Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/16—Sorting according to weight
- B07C5/28—Sorting according to weight using electrical control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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Abstract
The application relates to a sorting and placing method and system based on a fresh sorting robot, wherein the method comprises the following steps: acquiring lower-level warehouse information and acquiring fresh food conveying weight information; storing the weight information of the fresh food into a fresh food weight library, and calculating the weight difference value of the fresh food; comparing the fresh weight difference value with a preset standard weight difference value range; if the weight difference value of the fresh food is outside the standard weight difference value range, judging whether the weight information of the conveyed fresh food is larger than the weight information of the stored fresh food; if the weight information of the transported fresh food is larger than the weight information of the stored fresh food, placing the transported fresh food below the stored fresh food; otherwise, the transported fresh food is placed above the stored fresh food. The application has the technical effects that: the problem of sorting is given birth to that the arrangement is irregular in subordinate warehouse and is leaded to subordinate warehouse space utilization is low is reduced to subordinate warehouse's space utilization has been promoted.
Description
Technical Field
The application relates to the technical field of sorting robots, in particular to a sorting and placing method and system based on a fresh sorting robot.
Background
The sorting robot is a robot with observation instruments such as a sensor and an electronic optical system, and with the development of the domestic logistics industry, the sorting robot is gradually adopted to carry out secondary sorting on goods in a logistics site, so that the goods in different areas are classified.
The current letter sorting robot can adopt the AGV chassis, installs the arm on the ground dish, is equipped with flexible clamping jaw on the arm, transports the living bright of coming with the big storehouse through snatching the bright package of living, sorts the operation according to the demand in each subordinate's warehouse.
In the sorting process of the sorting robot, the inventor considers that at least the following problems exist: because the operation is placed in the letter sorting has the real-time, current letter sorting robot does not consider the permutation order of letter sorting, leads to in the letter sorting process, and the range of letter sorting article is irregular, leads to the space utilization of letter sorting article low.
Disclosure of Invention
In order to solve the problem that the sorting space utilization rate of the sorting objects is low due to irregular arrangement of the sorting objects of the sorting robot, the sorting and placing method and system based on the fresh sorting robot are provided.
In a first aspect, the application provides a sorting and placing method based on a fresh food sorting robot, which adopts the following technical scheme: the method comprises the following steps:
acquiring lower-level warehouse information, wherein the lower-level warehouse information is a corresponding lower-level warehouse which needs to be transported for freshness;
acquiring weight information of transported fresh food;
storing the fresh weight information into a fresh weight library, wherein different lower-level warehouse information and stored fresh weight information corresponding to the lower-level warehouse information are stored in the fresh weight library;
calculating a first difference value between the weight information of the transported fresh food and the weight information of the stored fresh food and setting the first difference value as a weight difference value of the fresh food;
comparing the fresh weight difference value with a preset standard weight difference value range;
if the weight difference value of the fresh food is outside the standard weight difference value range, judging whether the weight information of the conveyed fresh food is larger than the weight information of the stored fresh food;
if the weight information of the transported fresh food is larger than the weight information of the stored fresh food, placing the transported fresh food below the stored fresh food;
otherwise, the transported fresh food is placed above the stored fresh food.
According to the technical scheme, the lower-level warehouse information corresponding to the fresh food conveying information is obtained firstly, then the fresh food weight information is obtained, and the weight difference value between the fresh food conveying information and the fresh food storing information is judged by calculating the fresh food weight difference value; when the conveyed fresh information is larger than the stored fresh information, placing the conveyed fresh information below the stored fresh information; when transporting to give birth to bright information and be not more than storing and give birth to bright information, will transport and give birth to bright information and place in the top of storing and giving birth to bright information for the system can be based on giving birth to bright automatic storing in subordinate's warehouse according to the weight order with giving birth to bright according to giving birth to bright weight information, has reduced the problem that subordinate's warehouse space utilization is low that the sorting gives birth to bright arrange the irregularity in subordinate's warehouse, thereby has promoted subordinate's warehouse space utilization.
In a specific possible embodiment, before the obtaining the fresh weight information, the method further comprises:
acquiring information of transported fresh pictures;
acquiring the size information of the transported fresh food according to the image information of the transported fresh food;
acquiring lower-level warehouse picture information;
obtaining the size information of a lower-level warehouse according to the picture information of the lower-level warehouse, wherein the size information of the lower-level warehouse is size information corresponding to a space which can be accommodated by the lower-level warehouse;
comparing the transported fresh food size information with the size information of the lower-level warehouse;
and if the size information of the lower-level warehouse is smaller than the fresh conveying size information, conveying the fresh conveying size information to a preset standby warehouse.
Through above-mentioned technical scheme, acquire fresh picture information and subordinate warehouse picture information respectively, acquire fresh size information and subordinate warehouse size information respectively according to fresh picture information and subordinate warehouse picture information, judge through comparing fresh size information and subordinate warehouse size information and transport whether to exceed subordinate warehouse size information, reduced and transported the possibility that fresh breaks away from in subordinate warehouse to the stability of fresh in subordinate warehouse has been promoted.
In a specific possible embodiment, the transporting fresh size information to a pre-set standby warehouse includes:
calculating a second difference between the size of the lower-stage warehouse and the size of the sports fresh food and setting the second difference as excess size information;
calculating a ratio between the excess size information and the sports fresh size and setting the ratio as excess ratio information;
comparing the excess proportion information with a preset critical excess range;
if the excess proportion information is within the critical excess range, placing the transported fresh food above the stored fresh food;
otherwise, the fresh size information is transported to a preset standby warehouse.
Through the technical scheme, when the fresh size information is larger than the size information of the lower-level warehouse, the excess size information can be calculated, and the excess size information is compared with the preset critical excess range, so that the robot can continuously store the fresh in the excess limit range into the lower-level warehouse, and the space utilization rate of the warehouse is improved.
In a specific possible embodiment, the method further comprises:
when the conveyed fresh food falls off from the corresponding sorting robot, acquiring sorting route maps corresponding to other sorting robots;
acquiring falling position information corresponding to a sorting robot corresponding to the falling fresh food;
screening sorting robots corresponding to the falling-off position information contained in the sorting route map, and setting the corresponding sorting robots as in-route robots;
judging whether the on-road robot is in a fresh food transportation state, wherein the fresh food transportation state is in the process that the on-road robot transports the fresh food to a lower-level warehouse;
if the on-road robot is in a fresh transportation state, controlling the on-road robot to continue to carry out transportation operation;
and if the on-road robot is not in the fresh food transportation state, the sorting robot waiting for falling puts the fallen fresh food in the fresh food transportation state again.
Through the technical scheme, when the fresh food drops from the sorting robot, the sorting route maps corresponding to other sorting robots are firstly obtained, the dropping position information corresponding to the fresh food drops is obtained simultaneously, the sorting route maps and the dropping position information are compared, the in-route robot is screened out, the states of the in-route robot are classified, the in-route robot in the fresh food transportation state is screened out secondarily, the corresponding in-route robot is controlled to continue transportation operation, the in-route robot not in the transportation state can perform waiting operation, and therefore the sorting efficiency of the sorting robot is improved under the condition that the fresh food drops.
In a specific possible embodiment, the controlling the on-road robot to continue the transportation operation includes:
controlling the direct robot to wait for operation;
starting timing operation and generating waiting timing information;
continuously comparing the waiting timing information with preset critical timing information;
if the waiting timing information is larger than the critical timing information, the sorting route map is re-planned according to the acquired lower-level warehouse information until the sorting route map does not contain the falling position information;
and controlling the on-road robot to continue the transportation operation according to the re-planned sorting route map.
According to the technical scheme, when the in-route robot in the transportation state is controlled to wait for operation, timing operation is started and waiting timing information is generated, when the waiting timing information is larger than the preset critical timing information, re-planning is carried out according to the sorting route map corresponding to the in-route robot, and the in-route robot is kept to continue transportation operation, so that the transportation efficiency of the in-route robot under the condition that fresh goods fall is improved.
In a specific embodiment, after the placing the transported fresh food over the stored fresh food, the method further comprises:
calculating the ratio of the size of the lower-level warehouse to the size of the stored fresh food and setting the ratio as the full-load degree of the warehouse;
judging whether the full-load degree of the warehouse is larger than a preset critical full-load range;
if the full load degree of the warehouse is larger than the critical full load range, acquiring the full load degrees of the warehouses corresponding to other lower-level warehouses;
and if the full load degree of the warehouse is not more than the preset warehouse storage range, setting the corresponding warehouse as a standby warehouse.
Through the technical scheme, calculate the full load degree of warehouse, judge the full load degree of current warehouse through the comparison condition between with the full load degree of warehouse and the critical full load scope, when the full load degree of warehouse wherein is greater than the critical full load scope, acquire the full load degree of warehouse that other warehouses correspond, when the full load degree of warehouse that other warehouses correspond is less than predetermined warehouse storage range, set up other warehouses into the reserve warehouse that fully loads warehouse, the fresh food that has reduced partial area correspondence leads to the warehouse to be fully loaded and can't hold the possibility of corresponding fresh food greatly, thereby the utilization ratio in warehouse has been promoted.
In a specific possible embodiment, after the setting of the corresponding warehouse as the standby warehouse, the method further includes:
counting weight information corresponding to the fresh information stored in the lower-level warehouse;
arranging the stored fresh information according to the weight information and setting the arrangement sequence as a weight arrangement sequence;
acquiring an actual arrangement sequence in a lower-level warehouse;
judging whether the actual arrangement sequence is the same as the weight arrangement sequence;
if the actual arrangement sequence is different from the weight arrangement sequence, acquiring the stored fresh information with abnormal arrangement sequence;
acquiring fresh dimension information corresponding to the stored fresh information with abnormal actual arrangement sequence and setting the fresh dimension information as abnormal dimension information;
arranging the abnormal size information according to the fresh size information;
if the stored fresh food information is different from the weight arrangement sequence and the size arrangement sequence, the stored fresh food is exchanged according to the weight information.
Through the technical scheme, after the transportation of giving birth to the bright goods in warehouse, acquire the weight information of storing giving birth to the bright goods, obtain the weight sequence according to the weight information, acquire the actual sequence in subordinate's warehouse, carry out the mode of comparing through actual sequence and weight sequence, whether judging current sequence matches with the weight sequence, under the unmatched condition, acquire the size sequence that corresponds according to size information, whether the order of judging unusual arrangement accords with the size sequence, when neither accords with, change the unusual sequence in subordinate's warehouse, thereby the rationality of arranging in subordinate's warehouse has been promoted, thereby space utilization in subordinate's warehouse has been promoted.
The second aspect, this application provides a letter sorting placer based on give birth to bright letter sorting machine people adopts following technical scheme: the device comprises:
the lower-level warehouse acquisition module is used for acquiring lower-level warehouse information which is a corresponding lower-level warehouse needing to be conveyed for freshness;
the fresh food conveying acquisition module is used for acquiring weight information of the conveyed fresh food;
the fresh weight storage module is used for storing fresh weight information into a fresh weight library, and different lower-level warehouse information and stored fresh weight information corresponding to the lower-level warehouse information are stored in the fresh weight library;
the weight difference value calculating module is used for calculating the difference value between the weight information of the transported fresh food and the weight information of the stored fresh food and setting the difference value as the weight difference value of the fresh food;
the fresh weight comparison module is used for comparing the fresh weight difference value with a preset standard weight difference value range;
the fresh position judging module is used for judging whether the weight information of the conveyed fresh is larger than the weight information of the stored fresh if the weight difference value of the fresh is outside the range of the standard weight difference value;
the fresh food conveying module is used for conveying fresh food to the position below the fresh food storage module if the weight information of the conveyed fresh food is larger than the weight information of the stored fresh food;
and the fresh food conveying mobile module is used for conveying the fresh food to be placed above the stored fresh food if the weight information of the conveyed fresh food is not greater than the weight information of the stored fresh food.
In a third aspect, the present application provides a computer device, which adopts the following technical solution: comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute any sorting and placing method based on the fresh sorting robot.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions: a computer program is stored which can be loaded by a processor and executes any of the above sorting and placing methods based on the fresh sorting robot.
In summary, the present application includes at least one of the following beneficial technical effects:
1. firstly, acquiring lower-level warehouse information corresponding to the fresh food conveying information, then acquiring fresh food weight information, and calculating a fresh food weight difference value to judge the weight difference value between the fresh food conveying information and the fresh food storing information; when the conveyed fresh information is larger than the stored fresh information, placing the conveyed fresh information below the stored fresh information; when the conveyed fresh food information is not larger than the stored fresh food information, the conveyed fresh food information is placed above the stored fresh food information, so that the system can automatically store the fresh food in a lower-level warehouse according to the weight information of the fresh food according to the weight sequence, the problem of low space utilization rate of the lower-level warehouse caused by irregular arrangement of the sorted fresh food in the lower-level warehouse is solved, and the space utilization rate of the lower-level warehouse is improved;
2. after transportation of fresh food is completed in the warehouse, weight information of the fresh food is obtained and stored, a weight arrangement sequence is obtained according to the weight information, an actual arrangement sequence in a lower-level warehouse is obtained, a comparison mode is carried out between the actual arrangement sequence and the weight arrangement sequence, whether the current arrangement sequence is matched with the weight sequence or not is judged, under the condition of mismatch, a size arrangement sequence corresponding to the size information is obtained, whether the abnormal arrangement sequence accords with the size arrangement sequence or not is judged, when the abnormal arrangement sequence in the lower-level warehouse does not accord with the size arrangement sequence, the abnormal arrangement sequence in the lower-level warehouse is replaced, the reasonability of arrangement in the lower-level warehouse is improved, and the space utilization rate in the lower-level warehouse is improved.
Drawings
Fig. 1 is a flowchart of a sorting and placing method based on a fresh sorting robot in an embodiment of the present application.
Fig. 2 is a structural block diagram of a sorting and placing device based on a fresh food sorting robot in the embodiment of the application.
Reference numerals are as follows: 201. a lower-level warehouse acquisition module; 202. a transported fresh food obtaining module; 203. a fresh weight storage module; 204. a weight difference calculation module; 205. fresh weight comparison module; 206. a fresh position judging module; 207. storing the fresh food moving module; 208. a fresh food conveying moving module; 209. fresh and fresh fall-off corresponding module.
Detailed Description
The present application is described in further detail below with reference to figures 1-2.
The embodiment of the application discloses sorting and placing method based on fresh sorting robot, the method is based on a sorting robot control center, the control center forms communication with a large number of sorting robots through a communication system to control the robots to carry out sorting operation, the control center comprises all routes corresponding to the sorting robots running to next warehouses, cameras are preset on the sorting robots, the control center can control the cameras to carry out shooting operation towards corresponding position information through instructions, and the control center prestores the position information corresponding to the next warehouses.
As shown in fig. 1, the method comprises the steps of:
and S10, acquiring lower-level warehouse information.
The system comprises a control center, a sorting robot, a control center and a control center, wherein the lower-level warehouse information is a corresponding lower-level warehouse which needs to be transported for the fresh food, after each fresh food is transported to the control center, the control center can firstly identify the fresh food according to preset identification information, acquire the corresponding lower-level warehouse information, generate corresponding shortest route information according to the lower-level warehouse information, send the corresponding route information to the sorting robot for sorting the fresh food information, and the sorting robot moves sorting operation according to the received route information.
And S11, acquiring weight information of the transported fresh food.
After the control center acquires the fresh food, the weight of the fresh food is detected through a preset weight detection device, and weight information of the fresh food is acquired.
And S12, storing the fresh weight information into a fresh weight library.
Wherein, the fresh weight storehouse stores different subordinate warehouse information and the fresh weight information corresponding to the subordinate warehouse information.
And S13, calculating the weight difference of the fresh food.
The fresh weight difference value is a first difference value between the transported fresh weight information and the stored fresh weight information, and the first difference value is set as a fresh weight difference value.
And S14, judging whether the fresh weight difference value information is larger than a preset standard weight difference value range.
If the weight difference information of the transported fresh food is not larger than the standard weight difference range, directly placing the transported fresh food above the standard weight difference range and storing the transported fresh food; if the weight information of the transported fresh food is larger than the weight information of the stored fresh food, judging whether the weight information of the fresh food is larger than the weight information of the stored fresh food; if the weight information of the transported fresh food is larger than the weight information of the stored fresh food, placing the transported fresh food below the stored fresh food, and comparing the weight information of the stored fresh food when the weight information of the stored fresh food comprises a plurality of weights; and if the weight information of the transported fresh food is not more than the weight information of the stored fresh food, placing the transported fresh food above the stored fresh food.
In one embodiment, considering that after the fresh food is delivered to the lower warehouse, there is a possibility that the fresh food is stacked too much in the lower warehouse and falls down to the transportation route of the sorting robot to affect the transportation of the sorting robot, the fresh food needs to be monitored, and the specific monitoring operation may be performed as follows:
acquiring fresh food conveying picture information, acquiring fresh food conveying size information according to the fresh food conveying picture information, acquiring lower-level warehouse size information according to the lower-level warehouse picture information, wherein the lower-level warehouse size information is size information corresponding to a space which can be accommodated by a lower-level warehouse, and comparing the fresh food conveying size information with the lower-level warehouse size information; if the size information of the lower-level warehouse is smaller than the size information of the transported fresh food, the size information of the transported fresh food is transported to a preset standby warehouse; if the size information of the lower-level warehouse is not smaller than the size information of the transported fresh food, placing the transported fresh food in the lower-level warehouse according to the weight information; the possibility that the transported fresh food drops on the traveling route of the sorting robot from the lower-level warehouse to influence the operation of the sorting robot is reduced, so that the reasonable stacking of the fresh food when the fresh food is transported to the lower-level warehouse is promoted.
In one embodiment, considering that the fresh food is placed in the lower-level warehouse, since the packaging box of the fresh food is regular as a whole, after the fresh food is guaranteed to be stable, the fresh food can be allowed to partially exceed the lower-level warehouse, and the size information needs to be checked for the second time, the specific checking operation can be performed as follows:
calculating a second difference value between the size of the lower-level warehouse and the size of the sports fresh food, setting the second difference value as excess size information, calculating a ratio between the excess size information and the size of the sports fresh food, setting the ratio as excess proportion information, and comparing the excess proportion information with a preset critical excess range; if the excess proportion information is within the critical excess range, placing the transported fresh food above the stored fresh food; if the excess proportion information is outside the critical excess range, transporting the fresh size information to a preset standby warehouse; the system can automatically allow the fresh size to exceed the size of the warehouse on the premise of ensuring the stability of the fresh, so that the utilization rate of the lower-level warehouse is improved.
In one embodiment, considering that there is a possibility that the fresh food is separated from the sorting robot under the influence of an external force during the transportation process of the sorting robot, a corresponding control operation needs to be performed for the situation after the fresh food falls, and the specific control operation may be performed as follows:
when fresh food is conveyed to fall off from the corresponding sorting robot, the sorting robot sends corresponding pictures to a control center, obtains sorting route maps corresponding to other sorting robots, obtains falling position information corresponding to the sorting robot corresponding to the fallen fresh food, screens the sorting robot corresponding to the falling position information contained in the sorting route maps, sets the corresponding sorting robot as an on-road robot, and judges whether the on-road robot is in a fresh food conveying state, wherein the fresh food conveying state is that the on-road robot conveys the fresh food to a lower-level warehouse; if the on-road robot is in a fresh transportation state, controlling the on-road robot to continue to perform transportation operation; if the on-road robot is not in the fresh food transportation state, the sorting robot waiting for falling puts the fallen fresh food in the fresh food transportation state again; after the fresh food drops, the control center can select the in-line robot through the sorting route map of the sorting robot, and the fresh food is quickly and conveniently controlled to be conveyed to a lower-level warehouse according to the transportation state of the smooth robot, so that the sorting efficiency of the sorting robot after the fresh food drops is improved.
In one embodiment, considering that the fresh food falls on the travel route of the on-road robot, which causes that the on-road robot cannot adopt the evasive route to quickly transport the fresh food, the on-road robot needs to perform route evasive operation, the specific evasive operation may be performed as follows:
controlling the forward robot to perform waiting operation, starting timing operation and generating waiting timing information, and continuously comparing the waiting timing information with preset critical timing information; if the waiting time is not longer than the critical timing information, controlling the sorting robot to continue waiting operation; if the waiting timing information is larger than the critical timing information, the sorting route map is re-planned according to the obtained lower-level warehouse information until the sorting route map does not contain the falling position information, and the on-road robot is controlled to continue the transportation operation according to the re-planned sorting route map; after the advancing route of the on-road robot is blocked, the system can firstly wait for the critical time, and directly control the on-road robot to re-plan the route after the critical time range is exceeded, so that the transportation efficiency of transporting fresh goods by the on-road robot is improved.
In one embodiment, considering that in a case where the number of fresh food is large, there is a case where the warehouse is full, so that the fresh food cannot be transported to the lower-level warehouse, and a spare warehouse needs to be marked, a specific marking operation may be performed as:
calculating the ratio of the size of the lower-level warehouse to the size of the stored fresh food, setting the ratio as the full-load degree of the warehouse, and judging whether the full-load degree of the warehouse is larger than a preset critical full-load range; if the full load degree of the warehouse is larger than the critical full load range, acquiring the full load degrees of the warehouses corresponding to other lower-level warehouses; if the full load degree of the warehouse is not larger than the preset warehouse storage range, setting the corresponding warehouse as a standby warehouse; the system can automatically use the idle warehouse as the standby warehouse of the full-load warehouse, thereby improving the space utilization rate of different warehouses.
In one embodiment, in order to improve the space utilization rate of the lower warehouse after the sorting robot completes the transportation of the fresh food, the sorting robot may be controlled to perform an optimal placing operation on the fresh food in the lower warehouse, and the specific optimal placing operation may be performed as:
counting weight information corresponding to the fresh food information stored in the lower-level warehouse, arranging the fresh food information according to the weight information, setting the arrangement sequence as a weight arrangement sequence, acquiring an actual arrangement sequence in the lower-level warehouse, and judging whether the actual arrangement sequence is the same as the weight arrangement sequence; if the actual arrangement sequence is different from the weight arrangement sequence, obtaining the stored fresh food information with abnormal arrangement sequence, obtaining the fresh food size information corresponding to the stored fresh food information with abnormal actual arrangement sequence, setting the fresh food size information as abnormal size information, and arranging the abnormal size information according to the fresh food size information; if the stored fresh food information is different from the weight arrangement sequence and the size arrangement sequence, the stored fresh food is exchanged according to the weight information; the sorting robot can automatically optimize the fresh food in the lower-level warehouse, so that the space utilization rate of the lower-level warehouse is improved.
Based on the method, the embodiment of the application further discloses a sorting and placing device based on the fresh sorting robot.
As shown in fig. 2, the apparatus includes the following modules:
a lower warehouse obtaining module 201, configured to obtain lower warehouse information, where the lower warehouse information is a corresponding lower warehouse that is needed to be transported for freshness;
a transported fresh food obtaining module 202, configured to obtain weight information of the transported fresh food;
the fresh food weight storage module 203 is used for storing fresh food weight information into a fresh food weight library, wherein different lower-level warehouse information and stored fresh food weight information corresponding to the lower-level warehouse information are stored in the fresh food weight library;
a weight difference calculation module 204, configured to calculate a difference between the transported fresh weight information and the stored fresh weight information and set the difference as a fresh weight difference;
a fresh weight comparing module 205, configured to compare the fresh weight difference with a preset standard weight difference range;
the fresh position judging module 206 is configured to judge whether the weight information of the transported fresh is greater than the weight information of the stored fresh if the weight difference of the fresh is outside the standard weight difference range;
the fresh food conveying module 207 is used for conveying the fresh food to the position below the fresh food storage module if the weight information of the conveyed fresh food is larger than the weight information of the stored fresh food;
and a fresh food conveying moving module 208 for placing the conveyed fresh food above the stored fresh food if the weight information of the conveyed fresh food is not greater than the weight information of the stored fresh food.
In one embodiment, the lower-level warehouse acquisition module 201 is further configured to acquire fresh picture delivery information; acquiring the size information of the transported fresh food according to the image information of the transported fresh food; acquiring lower-level warehouse picture information; obtaining the size information of a lower-level warehouse according to the picture information of the lower-level warehouse, wherein the size information of the lower-level warehouse is size information corresponding to a space which can be accommodated by the lower-level warehouse; comparing the transported fresh food size information with the size information of the lower-level warehouse; and if the size information of the lower-level warehouse is smaller than the fresh conveying size information, conveying the fresh conveying size information to a preset standby warehouse.
In one embodiment, the lower warehouse acquiring module 201 is further configured to calculate a second difference value between the size of the lower warehouse and the size of the sports seafood, and set the second difference value as the excess size information; calculating a ratio between the excess size information and the sports fresh size and setting the ratio as excess ratio information; comparing the excess proportion information with a preset critical excess range; if the excess proportion information is within the critical excess range, placing the transported fresh food above the stored fresh food; otherwise, the fresh size information is transported to a preset standby warehouse.
In one embodiment, the fresh food dropping responding module 209 is further configured to, when a fresh food transported to the sorting robot drops from the corresponding sorting robot, obtain a sorting route map corresponding to the other sorting robot; acquiring falling position information corresponding to a sorting robot corresponding to the falling fresh food; screening sorting robots corresponding to the falling-off position information contained in the sorting route map, and setting the corresponding sorting robots as in-route robots; judging whether the on-road robot is in a fresh food transportation state, wherein the fresh food transportation state is in the process that the on-road robot transports the fresh food to a lower-level warehouse; if the on-road robot is in a fresh transportation state, controlling the on-road robot to continue to perform transportation operation; and if the on-road robot is not in the fresh food transportation state, the sorting robot waiting for falling off puts the fallen fresh food in the fresh food transportation state again.
In one embodiment, the fresh food dropping handling module 209 is further configured to control the on-road robot to perform a waiting operation; starting timing operation and generating waiting timing information; continuously comparing the waiting timing information with preset critical timing information; if the waiting timing information is larger than the critical timing information, the sorting route map is re-planned according to the acquired lower-level warehouse information until the sorting route map does not contain the falling position information; and controlling the on-road robot to continue the transportation operation according to the re-planned sorting route map.
In one embodiment, the lower warehouse obtaining module 201 is further configured to calculate a ratio between the size of the lower warehouse and the size of the stored fresh food and set the ratio as a warehouse full load degree; judging whether the full-load degree of the warehouse is larger than a preset critical full-load range or not; if the full-load degree of the warehouse is larger than the critical full-load range, acquiring the full-load degrees of the warehouses corresponding to other lower-level warehouses; and if the full load degree of the warehouse is not more than the preset warehouse storage range, setting the corresponding warehouse as a standby warehouse.
In one embodiment, the lower-level warehouse acquiring module 201 is further configured to count weight information corresponding to the fresh food information stored in the lower-level warehouse; arranging the stored fresh information according to the weight information and setting the arrangement sequence as a weight arrangement sequence; acquiring an actual arrangement sequence in a lower-level warehouse; judging whether the actual arrangement sequence is the same as the weight arrangement sequence; if the actual arrangement sequence is different from the weight arrangement sequence, acquiring the stored fresh information with abnormal arrangement sequence; acquiring fresh dimension information corresponding to the stored fresh information with abnormal actual arrangement sequence and setting the fresh dimension information as abnormal dimension information; arranging the abnormal size information according to the fresh size information; if the stored fresh food information is different from the weight arrangement sequence and the size arrangement sequence, the stored fresh food is exchanged according to the weight information.
The embodiment of the application also discloses computer equipment.
Specifically, the computer device comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and executes the sorting and placing method based on the fresh sorting robot.
The embodiment of the application also discloses a computer readable storage medium.
Specifically, the computer readable storage medium, which stores a computer program capable of being loaded by a processor and executing the sorting and placing method based on the fresh food sorting robot as described above, for example, includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications without inventive contribution to the present embodiment as required after reading the present specification, but all of them are protected by patent law within the scope of the present invention.
Claims (10)
1. A sorting and placing method based on a fresh sorting robot is characterized by comprising the following steps:
acquiring lower-level warehouse information, wherein the lower-level warehouse information is a corresponding lower-level warehouse which needs to be transported for freshness;
acquiring weight information of transported fresh food;
storing the fresh weight information into a fresh weight library, wherein different lower-level warehouse information and stored fresh weight information corresponding to the lower-level warehouse information are stored in the fresh weight library;
calculating a first difference value between the weight information of the transported fresh food and the weight information of the stored fresh food and setting the first difference value as a weight difference value of the fresh food;
comparing the fresh weight difference value with a preset standard weight difference value range;
if the weight difference value of the fresh food is outside the standard weight difference value range, judging whether the weight information of the conveyed fresh food is larger than the weight information of the stored fresh food;
if the weight information of the transported fresh food is larger than the weight information of the stored fresh food, placing the transported fresh food below the stored fresh food;
otherwise, the transported fresh food is placed above the stored fresh food.
2. The method of claim 1, further comprising, prior to said obtaining fresh ship weight information:
acquiring information of transported fresh pictures;
acquiring the size information of the transported fresh food according to the image information of the transported fresh food;
acquiring lower-level warehouse picture information;
obtaining the size information of a lower-level warehouse according to the picture information of the lower-level warehouse, wherein the size information of the lower-level warehouse is the size information corresponding to the space which can be accommodated by the lower-level warehouse;
comparing the transported fresh food size information with the size information of the lower-level warehouse;
and if the size information of the lower-level warehouse is smaller than the fresh conveying size information, conveying the fresh conveying size information to a preset standby warehouse.
3. The method of claim 2, wherein the transporting the fresh size information to a pre-defined back-up warehouse comprises:
calculating a second difference between the size of the lower-stage warehouse and the size of the sports fresh food and setting the second difference as excess size information;
calculating a ratio between the excess size information and the sports fresh size and setting the ratio as excess ratio information;
comparing the excess proportion information with a preset critical excess range;
if the excess proportion information is within the critical excess range, placing the transported fresh food above the stored fresh food;
otherwise, the fresh size information is transported to a preset standby warehouse.
4. The method of claim 1, further comprising:
when the conveyed fresh food falls off from the corresponding sorting robot, acquiring sorting route maps corresponding to other sorting robots;
acquiring falling position information corresponding to a sorting robot corresponding to the falling fresh food;
screening sorting robots corresponding to the falling-off position information contained in the sorting route map, and setting the corresponding sorting robots as in-route robots;
judging whether the on-road robot is in a fresh food transportation state, wherein the fresh food transportation state is in the process that the on-road robot transports the fresh food to a lower-level warehouse;
if the on-road robot is in a fresh transportation state, controlling the on-road robot to continue to carry out transportation operation;
and if the on-road robot is not in the fresh food transportation state, the sorting robot waiting for falling puts the fallen fresh food in the fresh food transportation state again.
5. The method of claim 4, wherein controlling the on-road robot to continue the transport operation comprises:
controlling the forward robot to wait for operation;
starting timing operation and generating waiting timing information;
continuously comparing the waiting timing information with preset critical timing information;
if the waiting timing information is larger than the critical timing information, the sorting route map is re-planned according to the acquired lower-level warehouse information until the sorting route map does not contain the falling position information;
and controlling the on-road robot to continue the transportation operation according to the re-planned sorting route map.
6. The method of claim 3, further comprising, after said placing the transported fresh food over the stored fresh food:
calculating the ratio of the size of the lower-level warehouse to the size of the stored fresh food and setting the ratio as the full-load degree of the warehouse;
judging whether the full-load degree of the warehouse is larger than a preset critical full-load range;
if the full load degree of the warehouse is larger than the critical full load range, acquiring the full load degrees of the warehouses corresponding to other lower-level warehouses;
and if the full load degree of the warehouse is not more than the preset warehouse storage range, setting the corresponding warehouse as a standby warehouse.
7. The method of claim 6, further comprising, after the setting the corresponding warehouse as a spare warehouse:
counting weight information corresponding to the fresh information stored in the lower-level warehouse;
arranging the stored fresh information according to the weight information and setting the arrangement sequence as a weight arrangement sequence;
acquiring an actual arrangement sequence in a lower-level warehouse;
judging whether the actual arrangement sequence is the same as the weight arrangement sequence;
if the actual arrangement sequence is different from the weight arrangement sequence, acquiring the stored fresh information with abnormal arrangement sequence;
acquiring fresh dimension information corresponding to the stored fresh information with abnormal actual arrangement sequence and setting the fresh dimension information as abnormal dimension information;
arranging the abnormal size information according to the fresh size information;
if the stored fresh food information is different from the weight arrangement sequence and the size arrangement sequence, the stored fresh food is exchanged according to the weight information.
8. A letter sorting placer based on give birth to bright letter sorting robot, its characterized in that, the device includes:
the lower-level warehouse acquisition module (201) is used for acquiring lower-level warehouse information which is a corresponding lower-level warehouse for fresh food to be conveyed;
the fresh food conveying obtaining module (202) is used for obtaining weight information of the conveyed fresh food;
the fresh weight storage module (203) is used for storing fresh weight information into a fresh weight library, and different lower-level warehouse information and stored fresh weight information corresponding to the lower-level warehouse information are stored in the fresh weight library;
a weight difference calculation module (204) for calculating a difference between the transported fresh weight information and the stored fresh weight information and setting the difference as a fresh weight difference;
the fresh weight comparison module (205) is used for comparing the fresh weight difference value with a preset standard weight difference value range;
the fresh position judging module (206) is used for judging whether the weight information of the conveyed fresh is larger than the weight information of the stored fresh if the weight difference value of the fresh is outside the range of the standard weight difference value;
the fresh food conveying module (207) is used for conveying the fresh food to the position below the stored fresh food if the weight information of the conveyed fresh food is larger than the weight information of the stored fresh food;
and a fresh food conveying moving module (208) for placing the conveyed fresh food above the stored fresh food if the weight information of the conveyed fresh food is not greater than the weight information of the stored fresh food.
9. A computer device comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any of claims 1 to 7.
10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.
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| CN202211233066.6A CN115488048A (en) | 2022-10-10 | 2022-10-10 | Sorting and placing method and system based on fresh sorting robot |
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| CN202211233066.6A CN115488048A (en) | 2022-10-10 | 2022-10-10 | Sorting and placing method and system based on fresh sorting robot |
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