CN116107306A - Material loading and unloading control method and device, electronic equipment and medium - Google Patents
Material loading and unloading control method and device, electronic equipment and medium Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention provides a material loading and unloading control method and device, electronic equipment and a medium. The material loading and unloading control method comprises the following steps: acquiring parking posture information of a target truck loaded with a first material; determining a storage position of the first material based on the parking gesture information; acquiring the current position of a material transferring tool; planning a moving route for the material transferring tool according to the current position and the storage position of the material transferring tool and sending the moving route to the material transferring tool; monitoring a loading process of the material transferring tool for loading the first material, and if the material transferring tool finishes loading the first material at the target position, sending a material unloading instruction to the material transferring tool so as to control the material transferring tool to place the first material at the appointed discharging position. The invention is beneficial to improving the loading and unloading efficiency of material loading and unloading control and reducing the labor cost.
Description
Technical Field
The invention relates to the field of intelligent control, in particular to a method and a device for controlling material loading and unloading, electronic equipment and a medium.
Background
In the related art, when a target truck transfers materials in a factory, a material transfer tool is manually controlled to load or unload the materials. Namely, a special person and special vehicle mode is adopted to control loading and unloading of materials.
However, when a large amount of materials are required to be handled, if the materials are handled in this way, a large amount of labor cost is required, and the handling efficiency is low.
In view of the foregoing, there is a need for a method that can improve the efficiency of material handling.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect of low control efficiency of loading and unloading materials in the prior art, thereby providing a material loading and unloading control method and device, electronic equipment and medium.
According to a first aspect, an embodiment of the present invention provides a material handling control method, applied to a material transportation control end, the method including:
acquiring parking posture information of a target truck loaded with a first material;
determining a storage position of the first material based on the rest gesture information;
acquiring the current position of a material transferring tool;
planning a moving route for the material transferring tool and sending the moving route to the material transferring tool according to the current position and the storage position of the material transferring tool, wherein the moving route is a route from the current position to a target position, and the target position is a goods taking position corresponding to the storage position; the material transferring tool is used for driving to the target position according to the moving route;
Monitoring the loading progress of the material transferring tool for loading the first material, and if the material transferring tool finishes loading the first material at the target position, sending a material unloading instruction to the material transferring tool so as to control the material transferring tool to place the first material at a specified discharging position.
In this mode, can combine the current position of the storage position of first material and material transfer instrument, automatic planning travel route for material transfer instrument, control material transfer instrument removes according to the travel route, and then control material transfer instrument realizes the autonomous handling to first material, helps improving the loading and unloading efficiency of material loading and unloading control. In addition, manual intervention is not needed in the whole process aiming at loading and unloading of the first material, and further labor cost is reduced.
With reference to the first aspect, in a first embodiment of the first aspect, the determining, based on the rest gesture information, a storage position of the first material includes:
identifying a first location of the first material in the target wagon and a second location of the second material in the target wagon;
detecting a distance difference between the first position and the second position, and determining a first detection result;
And determining the storage position of the first material based on the first detection result.
With reference to the first embodiment of the first aspect, in a second embodiment of the first aspect, the determining, based on the first detection result, a storage position of the first material includes:
and if the first detection result is that the distance difference is larger than or equal to a specified threshold value, determining the first position as the storage position of the first material.
With reference to the second embodiment of the first aspect, in a third embodiment of the first aspect, the method further includes:
and if the first detection result is that the distance difference is smaller than the specified threshold, sending first alarm information to prompt the adjustment of the first position.
With reference to the first aspect, in a fourth embodiment of the first aspect, the monitoring the loading progress of the material handling tool for loading the first material includes:
if the material transferring tool is monitored to execute the target action of loading the first material, monitoring the loading process of the material transferring tool for loading the first material;
and if the material transferring tool is not monitored to execute the target action of loading the first material, sending first alarm information.
According to a second aspect, embodiments of the present invention further provide a material handling control method applied to a material transfer tool, the method including:
receiving a moving route from the current position of the material transferring tool to a target position, wherein the moving route is sent by a material transportation control end, and the target position is a goods taking position corresponding to a first material storage position; the moving route is a route from the current position to a target position;
moving the first material from the current position to the target position according to the moving route, and loading the first material;
after the first material loading is completed, receiving a material unloading instruction sent by the material transportation control end;
and placing the first material at a specified discharging position according to the material unloading instruction.
In the mode, the material transferring tool can autonomously complete the loading and unloading of the first material without manual intervention, so that the loading and unloading efficiency is improved, and the labor cost is reduced.
With reference to the second aspect, in a first embodiment of the second aspect, the loading the first material includes:
scanning the storage position through a visual sensor to determine the actual placement position of the first material;
Performing depth detection on the actual placement position of the first material through a laser sensor so as to determine the position deviation between the picking position and the actual placement position;
loading the first material based on a comparison between the positional deviation and a specified error threshold.
With reference to the first embodiment of the second aspect, in a second embodiment of the second aspect, the loading the first material based on a comparison between the positional deviation and a specified error threshold includes:
and if the comparison result shows that the position deviation is smaller than or equal to the specified error threshold, executing a target action on the first material so as to load the first material.
With reference to the second embodiment of the second aspect, in a third embodiment of the second aspect, the method further includes:
and if the comparison result shows that the position deviation is larger than the specified error threshold, sending second alarm information, and stopping loading the first material.
With reference to the first embodiment of the second aspect, in a fourth embodiment of the second aspect, the scanning, by the vision sensor, the storage location to determine an actual placement location of the first material includes:
Reading a target identifier of the target material;
scanning the storage position through a visual sensor, and determining whether materials are placed on the storage position;
if the material is placed on the storage position ， Acquiring a material identifier of the material;
and determining the actual placement position of the first material based on a comparison result between the material identifier and the target identifier.
With reference to the fourth embodiment of the second aspect, in a fifth embodiment of the second aspect, the determining, based on a comparison result between the material identifier and the target identifier of the first material, an actual placement position of the first material includes:
if the comparison result shows that the material identifier is the same as the target identifier of the first material, determining that the actual placement position of the first material is the storage position;
if the comparison result shows that the material identifier is different from the target identifier of the first material, determining that the actual placement position of the first material is not the storage position, sending third alarm information, and stopping loading the first material.
With reference to the fifth embodiment of the second aspect, in a sixth embodiment of the second aspect, the method further includes:
Monitoring whether an obstacle exists in front of the movement in the process of the movement;
if the obstacle exists in front of the movement of the material transferring tool, identifying the distance between the material transferring tool and the obstacle;
and adjusting the moving speed of the material transferring tool based on the distance.
With reference to the sixth embodiment of the second aspect, in a seventh embodiment of the second aspect, the adjusting the moving speed of the material transferring tool based on the distance includes:
if the distance is greater than a first distance threshold, maintaining the current moving speed of the material transferring tool;
if the distance is smaller than the first distance threshold and larger than the second distance threshold, taking a target speed corresponding to the second distance threshold as the current moving speed of the material transferring tool based on a corresponding relation between a preset distance and a preset speed, wherein the target speed is smaller than the current moving speed;
and if the distance is smaller than or equal to the second distance threshold value, adjusting the current moving speed to be 0.
According to a third aspect, an embodiment of the present invention further provides a material handling control apparatus, applied to a material transportation control end, the apparatus including:
The first acquisition unit is used for acquiring parking posture information of a target truck loaded with a first material;
a first position determining unit configured to determine a storage position of the first material based on the rest posture information;
the second acquisition unit is used for acquiring the current position of the material transferring tool;
the route planning unit is used for planning a moving route for the material transferring tool according to the current position and the storage position of the material transferring tool and sending the moving route to the material transferring tool, wherein the moving route is a route from the current position to a target position, and the target position is a goods taking position corresponding to the storage position; the material transferring tool is used for driving to the target position according to the moving route;
and the execution unit is used for monitoring the loading process of the first material loaded by the material transferring tool, and sending a material unloading instruction to the material transferring tool so as to control the material transferring tool to place the first material at a specified discharging position if the material transferring tool finishes loading the first material at the target position.
According to a fourth aspect, embodiments of the present invention further provide a material handling control apparatus for use with a material handling tool, the apparatus comprising:
The first receiving unit is used for receiving a moving route from the current position of the material transferring tool to a target position, which is sent by the material transportation control end, wherein the target position is a goods taking position corresponding to the first material storage position; the moving route is a route from the current position to a target position;
a loading unit for moving from a current position to the target position according to the moving route, and loading the first material;
the second receiving unit is used for receiving a material unloading instruction sent by the material transportation control end after the first material is loaded;
and the unloading unit is used for placing the first material at a specified discharging position according to the material unloading instruction.
According to a fifth aspect, an embodiment of the present invention further provides an electronic device, including a memory and a processor, where the memory and the processor are communicatively connected to each other, and the memory stores computer instructions, and the processor executes the computer instructions, thereby executing the material handling control method according to any one of the first aspect and the optional embodiments thereof, or executing the material handling control method according to any one of the second aspect and the optional embodiments thereof.
According to a sixth aspect, embodiments of the present invention further provide a computer-readable storage medium storing computer instructions for causing the computer to perform the material handling control method of any one of the first aspect and its alternative embodiments or the material handling control method of any one of the second aspect and its alternative embodiments.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flow chart of a method of controlling material handling according to an exemplary embodiment.
Fig. 2 is a flow chart of another method of controlling material handling according to an exemplary embodiment.
Fig. 3 is a block diagram of a material handling control apparatus according to an exemplary embodiment.
Fig. 4 is a block diagram of a material handling control apparatus according to an exemplary embodiment.
Fig. 5 is a schematic diagram of a hardware structure of an electronic device according to an exemplary embodiment.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the related art, when a target truck transfers materials in a factory, a material transfer tool is manually controlled to load or unload the materials. Namely, a special person and special vehicle mode is adopted to control loading and unloading of materials. However, when a large amount of materials are required to be handled, if the materials are handled in this way, a large amount of labor cost is required, and the handling efficiency is low.
In order to solve the above-mentioned problems, in the embodiments of the present invention, a material handling control method is provided for an electronic device, and it should be noted that an execution body of the material handling control method may be a material handling control device, and the device may be implemented by software, hardware or a combination of software and hardware to form part or all of the electronic device, where the electronic device may be a terminal, a client, or a server, and the server may be a server, or may be a server cluster formed by multiple servers.
The material loading and unloading control method provided by the invention is suitable for use scenes of loading and unloading materials in factories. The material loading and unloading control method provided by the invention is applied to a material transportation control end and comprises the following steps: acquiring parking posture information of a target truck loaded with a first material; determining a storage position of the first material based on the parking gesture information; acquiring the current position of a material transferring tool; according to the current position and the storage position of the material transferring tool, a moving route is planned for the material transferring tool and sent to the material transferring tool, the moving route is a route from the current position to a target position, and the target position is a goods taking position corresponding to the storage position; the material transferring tool is used for driving to a target position according to the moving route; monitoring a loading process of the material transferring tool for loading the first material, and if the material transferring tool finishes loading the first material at the target position, sending a material unloading instruction to the material transferring tool so as to control the material transferring tool to place the first material at the appointed discharging position.
According to the material loading and unloading control method provided by the invention, the storage information of the first material can be determined according to the parking gesture information of the target truck, and then the moving route is automatically planned for the material transfer tool according to the current position of the material transfer tool and the storage information of the first material, so that the material transfer tool can automatically reach the target position to load the first material, and after the loading is completed, the material transfer tool is controlled to place the first material at the designated material position, and further the material transfer tool can automatically realize loading and unloading of the material without manual participation, thereby being beneficial to improving the loading and unloading efficiency of material loading and unloading control and reducing the labor cost.
Fig. 1 is a flow chart of a method of controlling material handling according to an exemplary embodiment. As shown in fig. 1, the material handling control method includes the following steps S101 to S105.
In step S101, parking posture information of a target wagon loaded with a first material is acquired.
In the embodiment of the present invention, the first material may be understood as a material to be loaded. By acquiring the parking posture information of the target truck for loading the first material, the loading direction of the first material loading by the material transfer tool can be clarified, and further the target position corresponding to the storage position of the first material can be clarified conveniently.
In one implementation scenario, when a target truck arrives at a designated dock, dock attitude information for the target truck is obtained. The dock attitude information may include, but is not limited to, the following: size information of the target truck, dock bias with respect to the designated dock location, and head direction. The parking deviation comprises a circumferential direction deviation between the current parking position and the appointed parking position of the target truck, and the circumferential direction deviation comprises a left deviation, a right deviation, a front deviation and a rear deviation. In one example, in order to accurately identify the current target truck, the appearance information of the target truck can be obtained while the parking posture information of the target truck is obtained, so that the type of the current target truck is determined by combining the obtained appearance information and the size specification information, and further the accuracy of determining the storage position of the first material is improved.
In step S102, a storage location of the first material is determined based on the rest posture information.
According to the embodiment of the invention, based on the parking gesture information, the parking direction of the target truck can be clarified, and then the position of the target truck for storing the materials is determined, so that the storage position of the first material can be determined.
In step S103, the current position of the material handling tool is acquired.
In the embodiment of the invention, the material transferring tool can be an intelligent unmanned forklift, a goods taking robot or any intelligent transferring tool capable of transferring materials. In order to facilitate the material transferring tool to quickly acquire the first material, the current position of the material transferring tool is acquired so as to plan a moving route from the current position to a target position corresponding to the storage position of the first material for the material transferring tool.
In step S104, a moving route is planned for the material handling tool and sent to the material handling tool according to the current position and the storage position of the material handling tool.
In the embodiment of the invention, the moving route is a route from the current position to the target position. The target position is a goods taking position corresponding to the storage position. The material transferring tool is used for driving to a target position according to the moving route. Through planning the moving route for the material transfer tool and sending the moving route to the transfer tool, the material transfer tool can automatically move to the target position without manual control direction in the moving process, so that the material loading and unloading operation process is more convenient, and the material loading and unloading efficiency is improved.
In one example, a travel route may be planned for a material handling tool by an automated guided vehicle system (Automated Guided Vehicle System, AGVS), thereby helping to improve the reliability and maneuverability of the travel route.
In step S105, a loading process of the material handling tool for loading the first material is monitored, and if the material handling tool finishes loading the first material at the target position, a material unloading instruction is sent to the material handling tool to control the material handling tool to place the first material at the designated discharging position.
In the embodiment of the invention, in order to ensure that the loading and unloading of the first material can be orderly carried out, the loading process of the material transfer tool for loading the first material is monitored. If the fact that the material transferring tool finishes loading the first material at the target position is monitored, a material unloading instruction is sent to the material transferring tool, so that the material transferring tool can execute an unloading task according to the material unloading instruction, and the first material is placed at a specified discharging position.
In an embodiment, if it is monitored that the material transferring tool performs a target action of loading the first material, the current material transferring tool is characterized as loading the first material, and then a loading process of the material transferring tool for loading the first material is monitored, so that a material unloading instruction can be sent to the material transferring tool in time, and loading and unloading of the first material can be ensured to be performed orderly.
If the material transferring tool is not monitored to execute the target action of loading the first material, the current material transferring tool is characterized in that the current material transferring tool is possibly abnormal, and the first material cannot be loaded normally. Therefore, in order to ensure that the loading and unloading of the first material can be normally obtained and avoid affecting the loading and unloading processes of other materials, the first alarm information is sent to prompt the factory manager that the loading of the first material is abnormal at present, and manual intervention is needed.
In an implementation scenario, in order to avoid the situation that the first alarm information is sent by mistake, when the material transferring tool reaches the target position, the waiting time length of the material transferring tool for not executing the target action for loading the first material is counted, if the waiting time length is greater than the specified time length threshold, it is determined that the material transferring tool does not execute the target action for loading the first material, and then the first alarm information is sent.
Through the above-mentioned embodiment, can combine the current position of the storage position of first material and material transfer instrument, automatic for material transfer instrument planning travel route, control material transfer instrument removes according to the travel route, and then control material transfer instrument realizes the loading and unloading efficiency to first material independently, helps improving the material loading and unloading control. In addition, manual intervention is not needed in the whole process aiming at loading and unloading of the first material, and further labor cost is reduced.
The following examples will illustrate specific processes for determining the storage location of the first material based on the rest position information.
In the present invention, to determine the storage location of a first material, a first location of the first material in a target truck and a second location of a second material in the target truck are identified. Wherein the second material is understood to be a material adjacent to the first material. That is, the first position and the second position are adjacent positions. In order to improve the reliability and safety of loading the first material, the influence on the safety of the second material in the process of loading the first material is avoided, the distance difference between the first position and the second position is detected, the first detection result is determined, and then the storage position of the first material is determined based on the first detection result.
Specifically, if the first detection result is that the distance difference is greater than or equal to the specified threshold, the position interval between the first material and the second material is sufficient, and the material transfer tool does not influence the placement safety of the second material when performing the target action on the first material placed at the first position, so that the first position can be determined as the storage position of the first material. Wherein the specified threshold value can be understood as the minimum safe placement distance between two adjacent materials.
If the first detection result is that the distance difference is smaller than the specified threshold, the position interval between the first material and the second material is too narrow, and the placement safety of the second material can be influenced when the material transfer tool performs the target action on the first material placed at the first position. Therefore, in order to ensure the placement safety of the second material, the first alarm information is sent to prompt and adjust the first position to the manager of the factory, so that the placement safety of the second material is not influenced in the process of loading the first material, and the loading and unloading process of the material is promoted to be orderly carried out.
In another implementation scenario, material handling control may be implemented based on deploying an environmental monitoring system at a material transport control end. The environment monitoring system is a system based on a deep learning image recognition technology. The environment monitoring system can effectively identify and track objects such as cargoes, pallets, forklifts and operators in a factory by means of big data and an artificial intelligence (Artificial Intelligence, AI) algorithm, and real-time share object information into a warehouse management system and a central control scheduling system of a user, so that intelligent equipment such as an intelligent forklift is assisted to perform unmanned operation while library position safety information is provided for the factory, and real-time detection of material conditions is realized. Meanwhile, the environment monitoring system also has an infrared detection function, and can still perform real-time detection tasks under the condition of no illumination.
Specifically, parking gesture information of the target truck can be obtained through the environment monitoring system and uploaded to the central control system of the material transportation control end, and then the central control system determines the storage position of the first material based on the parking gesture information, and plans a moving route for the material transportation tool and sends the moving route to the material transportation tool in combination with the current position of the material transportation tool. The first position of the first material in the target truck and the second position of the second material in the target truck can be identified through the environment monitoring system, and whether the distance difference between the first position and the second position is larger than or equal to a specified threshold value is further determined. When the environmental monitoring system determines that the distance difference is greater than or equal to a specified threshold, the first location is determined to be the storage location of the first material. And when the environment monitoring system determines that the distance difference is smaller than the specified threshold value, sending first alarm information to prompt the adjustment of the first position. The method comprises the steps of monitoring a loading process of a material transferring tool for loading a first material through an environment monitoring system, and sending a material unloading instruction to the material transferring tool if the material transferring tool finishes loading the first material at a target position so as to control the material transferring tool to place the first material at a specified discharging position. Preferably, an environment monitoring system with the sensing precision smaller than or equal to +/-10 mm can be deployed at a material transportation control end, so that the safety and reliability of material loading/unloading can be guaranteed.
Based on the same inventive concept, the invention also provides a material loading and unloading control method applied to the material transferring tool. In the invention, the material transferring tool can be an intelligent unmanned forklift, a cargo taking robot or any intelligent transferring tool capable of transferring materials.
In the material loading and unloading control method of the material transfer tool provided by the invention, a moving route from the current position of the material transfer tool to a target position, which is sent by a material transport control end, is received, wherein the target position is a goods taking position corresponding to a first material storage position; the moving route is a route from the current position to a target position, and the target position is a goods taking position corresponding to the storage position. And moving from the current position to the target position according to the moving route, and loading the first material. And after the first material is loaded, receiving a material unloading instruction sent by the material transportation control end. And placing the first material at a specified discharging position according to the material unloading instruction. According to the material loading and unloading control method provided by the invention, the material transferring tool can automatically reach the target position according to the received moving route to load the first material, so that the first material can be automatically unloaded to the designated unloading position when the material unloading instruction sent by the material transportation control end is received, manual intervention is not needed, the loading and unloading efficiency is improved, and the labor cost is reduced.
Fig. 2 is a flow chart of another method of controlling material handling according to an exemplary embodiment. As shown in fig. 2, the material handling control method includes the following steps S201 to S204.
In step S201, a movement route from the current position of the material handling tool to the target position, which is transmitted from the material handling control end, is received.
In the embodiment of the invention, the target position is a pickup position corresponding to the first material storage position, and the moving route is a route from the current position to the target position. Through receiving the removal route from the current position of material transfer instrument to target position that the material transportation control end sent, can make the material transfer instrument definitely move to target position from current position, and then help ensuring that the loading of first material can go on in order.
In one example, the material handling control end may plan a travel route for the material handling tool via an automated guided vehicle system (Automated Guided Vehicle System, AGVS), thereby helping to improve the reliability and maneuverability of the travel route.
In step S202, a first material is loaded by moving from a current position to a target position according to a moving route.
In an embodiment, in order to improve the loading effectiveness, the storage position is scanned by a vision sensor of the material transferring tool, the actual placement position of the first material is determined, and then the actual placement position of the first material is subjected to depth detection by the laser sensor, so as to determine the position deviation between the picking position and the actual placement position. Loading the first material based on a comparison between the positional deviation and the specified error threshold. The specified error threshold may be understood as the maximum positional deviation that the material handling tool can effectively acquire the first material.
In an example, if the comparison result is that the position deviation is less than or equal to the specified error threshold, the material handling tool is characterized as being capable of effectively loading the first material, and then performing the target action on the first material to load the first material.
If the comparison result is that the position deviation is larger than the specified error threshold, the material transferring tool cannot effectively load the first material, further sends second alarm information, and stops loading the first material, so that a factory administrator can adjust the actual placement position of the first material after receiving the second alarm information.
In one example, if the comparison result is that the position deviation is greater than the specified error threshold, the gesture of the material transfer tool or the acquiring direction of the loaded first material can be adjusted according to the difference between the position deviation and the specified error threshold, so that the material transfer tool can smoothly load the first material, and further the occurrence of manual intervention is reduced.
In another embodiment, in order to improve the loading accuracy and avoid the situation of misloading the materials, the target identifier of the target material is read in advance, and then the storage position is scanned by the vision sensor of the material transfer tool, so as to determine whether the material is placed on the target position. If the material is placed on the storage position, determining the actual placement position of the first material based on a comparison result between the material identifier and the target identifier. The target identifier of the first material may be that the material transportation control end sends the moving route to the material transportation tool together while sending the moving route. The target identifier of the first material may also be obtained in advance by the material transferring tool, which is not limited in the present invention.
In an example, if the comparison result is that the material identifier is the same as the target identifier of the first material, the material placed on the characterization target position is the first material, and then the actual placement position of the first material can be determined to be the storage position. If the comparison result is that the material identification is different from the target identification of the first material, the material placed at the characterization target position is not the first material, and then the actual placement position of the first material is not the storage position, the third alarm information is sent, the first material is stopped to be loaded, and the factory manager is informed of the error of the storage position of the first material through the third alarm information, and the placement position of the first material needs to be replaced.
In step S203, after the first material loading is completed, a material unloading instruction sent by the material transportation control end is received.
In an embodiment of the present invention, the material unloading instruction is an instruction for instructing the material handling tool to unload the loaded first material to the designated unloading position.
In step S204, the first material is placed at a specified discharge position according to the material discharge instruction.
In one example, the designated discharge location may be the location of a container of another truck. That is, the material handling tool may unload the loaded first material to the location of the container of the other truck. The location of the cargo box of the other truck may be determined based on obtaining the docking attitude information of the other truck. The technical means adopted for acquiring the parking posture information of other trucks is the same as that adopted for acquiring the parking posture information of the target truck, and will not be described in detail herein.
Through the embodiment, the material transferring tool can autonomously complete the loading and unloading of the first material without manual intervention, so that the loading and unloading efficiency is improved, and the labor cost is reduced.
In an embodiment, to ensure the transportation safety of the material transferring tool, the current moving speed of the material transferring tool is determined in the moving process of the material transferring tool, and whether an obstacle exists in front of the moving process is monitored. If the obstacle exists in the moving front of the material transferring tool, the distance between the material transferring tool and the obstacle is identified, and then the moving speed of the material transferring tool is adjusted based on the distance, so that the moving safety of the material transferring tool is guaranteed.
Specifically, if the distance is greater than the first distance threshold, the current movement speed of the material handling tool is maintained. The first distance threshold may be understood as the minimum safety distance at which the material handling tool does not strike an obstacle. If the distance is smaller than the first distance threshold and larger than the second distance threshold, the target speed corresponding to the second distance threshold is used as the current moving speed of the material transporting tool based on the corresponding relation between the preset distance and the speed. Wherein the target speed is less than the current movement speed. The second distance threshold may be understood as the minimum safety distance that has an impact on the travel safety of the material handling tool. If the material transfer tool is smaller than the first distance threshold and larger than the second distance threshold, the distance between the current material transfer tool and the obstacle is characterized as being relatively short, if the original current moving speed is continuously adopted for moving, the moving safety of the material transfer tool can be affected, and then the target speed corresponding to the second distance threshold is used as the current moving speed of the material transfer tool based on the corresponding relation between the preset distance and the speed, so that the distance between the target speed and the obstacle is pulled, and the moving safety of the material transfer tool is improved. If the distance is less than or equal to the second distance threshold, the existence of the characterization obstacle threatens the movement safety of the material transfer tool, so that the current movement speed is adjusted to 0, that is, the material transfer tool is stopped to continue to move, so that the movement safety of the material transfer tool is improved. In one example, if the distance is smaller than or equal to the second distance threshold and the material transferring tool is gradually approaching the material transferring tool under the condition of stopping moving, the fourth alarm information can be sent to inform the factory administrator of the current working condition, and the obstacle and the material transferring tool are separated in time, so that the occurrence of safety accidents is avoided.
In yet another embodiment, if it is detected that the distance between the material handling tool and the obstacle is gradually increased, the moving speed of the material handling tool may be gradually restored.
In one implementation scenario, the process of the material transport control end controlling the material transport tool to load and unload the first material is as follows:
the material transportation control end obtains the appearance information and the parking posture information of the target truck through the environment monitoring system, and uploads the appearance information and the parking posture information to the central control system of the material transportation control end, so that the central control system determines the storage position of the first material. The central control system plans a moving route for the material transferring tool according to the current position and the storage position of the material transferring tool and sends the moving route to the material transferring tool. After the material transferring tool receives the moving route, the material transferring tool moves from the current position to the target position according to the moving route, and the first material is loaded. The material transfer tool is used for monitoring the loading process of the material transfer tool for loading the first material by the material transfer control end in the process of loading the first material. And if the material transferring tool finishes loading the first material at the target position, sending a material unloading instruction to the material transferring tool. The material transferring tool places the first material at a specified discharging position according to the material unloading instruction, and the loading and unloading of the first material are completed.
By the material loading and unloading control method provided by the invention, the material transferring tool can automatically load or unload the material from the truck to the appointed unloading position, the unmanned butt joint of logistics is satisfied, the loading and unloading efficiency of the material is further improved, and the labor cost is reduced.
Based on the same inventive concept, the invention also provides a material loading and unloading control device applied to the material transportation control end.
Fig. 3 is a block diagram of a material handling control apparatus according to an exemplary embodiment. As shown in fig. 3, the material handling control device includes a first acquisition unit 301, a first position determination unit 302, a second acquisition unit 303, a route planning unit 304, and an execution unit 305.
A first acquiring unit 301, configured to acquire parking posture information of a target truck loaded with a first material;
a first position determining unit 302 for determining a storage position of the first material based on the parking posture information;
a second obtaining unit 303, configured to obtain a current position of the material transferring tool;
the route planning unit 304 is configured to plan a moving route for the material transferring tool according to a current position and a storage position of the material transferring tool, and send the moving route to the material transferring tool, where the moving route is a route from the current position to a target position, and the target position is a pickup position corresponding to the storage position; the material transferring tool is used for driving to a target position according to the moving route;
The execution unit 305 is configured to monitor a loading process of the material handling tool for loading the first material, and if the material handling tool completes loading the first material at the target position, send a material unloading instruction to the material handling tool to control the material handling tool to place the first material at the specified discharging position.
In an embodiment, the first position determining unit 302 comprises: the first identification unit is used for identifying a first position of the first material in the target truck and a second position of the second material in the target truck; the first detection unit is used for detecting a distance difference between the first position and the second position and determining a first detection result; and the position determining subunit is used for determining the storage position of the first material based on the first detection result.
In another embodiment, the location determination subunit comprises: and the first determining unit is used for determining the first position as the storage position of the first material if the first detection result is that the distance difference is larger than or equal to the specified threshold value.
In yet another embodiment, the apparatus further comprises: and the second determining unit is used for sending first alarm information to prompt the adjustment of the first position if the first detection result is that the distance difference is smaller than the specified threshold value.
In yet another embodiment, the execution unit 305 includes: the first monitoring unit is used for monitoring the loading process of the material transfer tool for loading the first material if the material transfer tool is monitored to execute the target action for loading the first material; and the first sending unit is used for sending first alarm information if the target action of loading the first material by the material transferring tool is not monitored.
The specific limitation of the material handling control device and the beneficial effects can be referred to the limitation of the material handling control method, and are not described herein. The various modules described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in software in a memory in the electronic device, so that the processor may call and execute operations corresponding to the above modules.
Based on the same inventive concept, the invention also provides a material loading and unloading control device applied to the material transferring tool.
Fig. 4 is a block diagram of a material handling control apparatus according to an exemplary embodiment. As shown in fig. 4, the material handling control apparatus includes a first receiving unit 401, a loading unit 402, a second receiving unit 403, and an unloading unit 404.
A first receiving unit 401, configured to receive a movement route from a current position of the material handling tool to a target position sent by the material handling control end, where the target position is a pickup position corresponding to the first material storage position; the moving route is a route from the current position to the target position;
a loading unit 402 for moving from a current position to a target position according to a moving route, loading a first material;
a second receiving unit 403, configured to receive a material unloading instruction sent by the material transportation control end after the first material is loaded;
and the unloading unit 404 is used for placing the first material at a specified discharging position according to the material unloading instruction.
In one embodiment, the loading unit 402 includes: the scanning unit is used for scanning the storage position through the visual sensor and determining the actual placement position of the first material; the position detection unit is used for carrying out depth detection on the actual placement position of the first material through the laser sensor so as to determine the position deviation between the goods taking position and the actual placement position; and the loading subunit is used for loading the first material based on the comparison result between the position deviation and the specified error threshold value.
In another embodiment, a loading subunit includes: and the loading execution unit is used for executing a target action on the first material to load the first material if the comparison result is that the position deviation is smaller than or equal to the specified error threshold value.
In yet another embodiment, the apparatus further comprises: and the second sending unit is used for sending second alarm information and stopping loading the first material if the comparison result is that the position deviation is larger than the specified error threshold value.
In yet another embodiment, a scanning unit includes: the reading unit is used for reading the target mark of the target material; the scanning subunit is used for scanning the storage position through the visual sensor and determining whether the material is placed on the storage position; the third acquisition unit is used for acquiring a material identifier of the material if the material is placed on the storage position; and the second position determining unit is used for determining the actual placement position of the first material based on the comparison result between the material identifier and the target identifier.
In yet another embodiment, the second position determining unit includes: the third determining unit is used for determining the actual placement position of the first material as the storage position if the comparison result shows that the material identifier is the same as the target identifier of the first material; and the third sending unit is used for determining that the actual placement position of the first material is not the storage position if the comparison result is that the material identification is different from the target identification of the first material, sending third alarm information and stopping loading the first material.
In yet another embodiment, the apparatus further comprises: the second monitoring unit is used for monitoring whether an obstacle exists in front of the movement in the moving process; the distance identifying unit is used for identifying the distance between the material transferring tool and the obstacle if the obstacle exists in front of the movement of the material transferring tool; and the adjusting unit is used for adjusting the moving speed of the material transferring tool based on the distance.
In a further embodiment, the adjusting unit comprises: the first adjusting unit is used for keeping the current moving speed of the material transferring tool if the distance is larger than a first distance threshold value; the second adjusting unit is used for taking the target speed corresponding to the second distance threshold value as the current moving speed of the material transferring tool based on the corresponding relation between the preset distance and the speed if the distance is smaller than the first distance threshold value and larger than the second distance threshold value, and the target speed is smaller than the current moving speed; and the third adjusting unit is used for controlling the moving speed to be 0 if the distance is smaller than or equal to the second distance threshold value.
The specific limitation of the material handling control device and the beneficial effects can be referred to the limitation of the material handling control method, and are not described herein. The various modules described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or independent of a processor in the electronic device, or may be stored in software in a memory in the electronic device, so that the processor may call and execute operations corresponding to the above modules.
Fig. 5 is a schematic diagram of a hardware structure of an electronic device according to an exemplary embodiment. As shown in fig. 5, the device includes one or more processors 510 and a memory 520, the memory 520 including persistent memory, volatile memory and a hard disk, one processor 510 being illustrated in fig. 5. The apparatus may further include: an input device 530 and an output device 540.
The processor 510, memory 520, input device 530, and output device 540 may be connected by a bus or other means, for example in fig. 5.
The processor 510 may be a central processing unit (Central Processing Unit, CPU). Processor 510 may also be a chip such as other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination thereof. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 520 is a non-transitory computer readable storage medium, including persistent memory, volatile memory, and hard disk, and may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the service management method in the embodiments of the present application. The processor 510 executes various functional applications of the server and data processing, i.e., implements any of the material handling control methods described above, by running non-transitory software programs, instructions, and modules stored in the memory 520.
The input device 530 may receive input numeric or character information and generate key signal inputs related to user settings and function control. The output 540 may include a display device such as a display screen.
One or more modules are stored in memory 520 that, when executed by one or more processors 510, perform the methods illustrated in fig. 1-2.
The product can execute the method provided by the embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the present embodiment can be found in the embodiments shown in fig. 1 to 2.
The embodiment of the invention also provides a non-transitory computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the authentication method in any of the method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.
Claims (17)
1. A method of controlling material handling for a material transport control terminal, the method comprising:
Acquiring parking posture information of a target truck loaded with a first material;
determining a storage position of the first material based on the rest gesture information;
acquiring the current position of a material transferring tool;
planning a moving route for the material transferring tool and sending the moving route to the material transferring tool according to the current position and the storage position of the material transferring tool, wherein the moving route is a route from the current position to a target position, and the target position is a goods taking position corresponding to the storage position; the material transferring tool is used for driving to the target position according to the moving route;
monitoring the loading progress of the material transferring tool for loading the first material, and if the material transferring tool finishes loading the first material at the target position, sending a material unloading instruction to the material transferring tool so as to control the material transferring tool to place the first material at a specified discharging position.
2. The method of claim 1, wherein the determining the storage location of the first material based on the rest posture information comprises:
Identifying a first location of the first material in the target wagon and a second location of the second material in the target wagon;
detecting a distance difference between the first position and the second position, and determining a first detection result;
and determining the storage position of the first material based on the first detection result.
3. The method of claim 2, wherein determining the storage location of the first material based on the first detection result comprises:
and if the first detection result is that the distance difference is larger than or equal to a specified threshold value, determining the first position as the storage position of the first material.
4. A method according to claim 3, characterized in that the method further comprises:
and if the first detection result is that the distance difference is smaller than the specified threshold, sending first alarm information to prompt the adjustment of the first position.
5. The method of claim 1, wherein the monitoring of the loading progress of the material handling tool to load the first material comprises:
if the material transferring tool is monitored to execute the target action of loading the first material, monitoring the loading process of the material transferring tool for loading the first material;
And if the material transferring tool is not monitored to execute the target action of loading the first material, sending first alarm information.
6. A method of controlling material handling for a material handling tool, the method comprising:
receiving a moving route from the current position of the material transferring tool to a target position, wherein the moving route is sent by a material transportation control end, the target position is a goods taking position corresponding to a first material storage position, and the moving route is a route from the current position to the target position;
moving the first material from the current position to the target position according to the moving route, and loading the first material;
after the first material loading is completed, receiving a material unloading instruction sent by the material transportation control end;
and placing the first material at a specified discharging position according to the material unloading instruction.
7. The method of claim 6, wherein said loading said first material comprises:
scanning the storage position through a visual sensor to determine the actual placement position of the first material;
performing depth detection on the actual placement position of the first material through a laser sensor so as to determine the position deviation between the picking position and the actual placement position;
Loading the first material based on a comparison between the positional deviation and a specified error threshold.
8. The method of claim 7, wherein loading the first material based on a comparison between the positional deviation and a specified error threshold comprises:
and if the comparison result shows that the position deviation is smaller than or equal to the specified error threshold, executing a target action on the first material so as to load the first material.
9. The method of claim 8, wherein the method further comprises:
and if the comparison result shows that the position deviation is larger than the specified error threshold, sending second alarm information, and stopping loading the first material.
10. The method of claim 7, wherein the scanning the storage location by a vision sensor to determine the actual placement location of the first material comprises:
reading a target identifier of the target material;
scanning the storage position through a visual sensor, and determining whether materials are placed on the storage position;
if the material is placed on the storage position ， Acquiring a material identifier of the material;
And determining the actual placement position of the first material based on a comparison result between the material identifier and the target identifier.
11. The method of claim 10, wherein determining the actual placement location of the first material based on the comparison between the material identification and the target identification of the first material comprises:
if the comparison result shows that the material identifier is the same as the target identifier of the first material, determining that the actual placement position of the first material is the storage position;
if the comparison result shows that the material identifier is different from the target identifier of the first material, determining that the actual placement position of the first material is not the storage position, sending third alarm information, and stopping loading the first material.
12. The method of claim 6, wherein the method further comprises:
monitoring whether an obstacle exists in front of the movement in the process of the movement;
if the obstacle exists in front of the movement of the material transferring tool, identifying the distance between the material transferring tool and the obstacle;
and adjusting the moving speed of the material transferring tool based on the distance.
13. The method of claim 12, wherein adjusting the travel speed of the material handling tool based on the distance comprises:
if the distance is greater than a first distance threshold, maintaining the current moving speed of the material transferring tool;
if the distance is smaller than the first distance threshold and larger than the second distance threshold, taking a target speed corresponding to the second distance threshold as the current moving speed of the material transferring tool based on a corresponding relation between a preset distance and a preset speed, wherein the target speed is smaller than the current moving speed;
and if the distance is smaller than or equal to the second distance threshold value, adjusting the current moving speed to be 0.
14. A material handling control apparatus for use with a material transport control terminal, said apparatus comprising:
the first acquisition unit is used for acquiring parking posture information of a target truck loaded with a first material;
a first position determining unit configured to determine a storage position of the first material based on the rest posture information;
the second acquisition unit is used for acquiring the current position of the material transferring tool;
the route planning unit is used for planning a moving route for the material transferring tool according to the current position and the storage position of the material transferring tool and sending the moving route to the material transferring tool, wherein the moving route is a route from the current position to a target position, and the target position is a goods taking position corresponding to the storage position; the material transferring tool is used for driving to the target position according to the moving route;
And the execution unit is used for monitoring the loading process of the first material loaded by the material transferring tool, and sending a material unloading instruction to the material transferring tool so as to control the material transferring tool to place the first material at a specified discharging position if the material transferring tool finishes loading the first material at the target position.
15. A material handling control apparatus for use with a material handling tool, the apparatus comprising:
the first receiving unit is used for receiving a moving route from the current position of the material transferring tool to a target position, which is sent by the material transportation control end, wherein the target position is a goods taking position corresponding to the first material storage position; the moving route is a route from the current position to a target position;
a loading unit for moving from a current position to the target position according to the moving route, and loading the first material;
the second receiving unit is used for receiving a material unloading instruction sent by the material transportation control end after the first material is loaded;
and the unloading unit is used for placing the first material at a specified discharging position according to the material unloading instruction.
16. An electronic device comprising a memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of any one of claims 1-5 or the method of any one of claims 6-13.
17. A computer-readable storage medium storing computer instructions for causing the computer to execute the material handling control method according to any one of claims 1 to 5 or to execute the material handling control method according to any one of claims 6 to 13.
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| CN202310111640.9A CN116107306A (en) | 2023-02-10 | 2023-02-10 | Material loading and unloading control method and device, electronic equipment and medium |
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| CN202310111640.9A CN116107306A (en) | 2023-02-10 | 2023-02-10 | Material loading and unloading control method and device, electronic equipment and medium |
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