CN116125933A - Fool-proof detection method, device and equipment applied to unmanned carrying trolley - Google Patents
Fool-proof detection method, device and equipment applied to unmanned carrying trolley Download PDFInfo
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- CN116125933A CN116125933A CN202310266470.1A CN202310266470A CN116125933A CN 116125933 A CN116125933 A CN 116125933A CN 202310266470 A CN202310266470 A CN 202310266470A CN 116125933 A CN116125933 A CN 116125933A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention relates to the technical field of warehouse logistics, and provides a fool-proof detection method, a fool-proof detection device and fool-proof detection equipment applied to an unmanned carrying trolley. By applying the technical scheme of the invention, the unmanned carrying trolley can be ensured to run safely as much as possible in the process of carrying the materials by the unmanned carrying trolley, and the situation of material collision is avoided.
Description
Technical Field
The invention relates to the technical field of warehouse logistics, in particular to a fool-proof detection method, device and equipment applied to an unmanned carrying trolley.
Background
In the warehouse logistics field, the materials are required to be carried and transferred, and when the automatic carrying device is used for carrying the materials, the automatic carrying device can carry the materials to the designated positions according to carrying instructions. For example, when three terminals of a background, an automatic conveying device and a bench for placing materials are involved, the bench can send own material information to the background, for example, the material information sent by the bench is: with or without material (no material includes presence of material rod and absence of material rod); the background is responsible for assisting and controlling material handling; the automatic conveying device is responsible for conveying materials to the bench or acquiring materials from the bench according to the instruction.
In the prior art, after the automatic handling device receives a feeding instruction, a default machine material information correct command included in the feeding instruction sent by the background, or before the automatic handling device finishes feeding tasks, the material state on the machine cannot change, at this time, if the material information sent by the machine to the background is wrong (detection error and signal delay), or the material information sent by the background to the automatic handling device is wrong, or before the automatic handling device feeds materials, the material state of the machine changes, at this time, if materials exist on a machine shaft of the machine, the automatic handling device directly carries the materials to the machine shaft, the situation of material collision can occur, material damage is caused, and equipment safety can be affected when serious, so that equipment failure or shutdown of the whole handling place is caused.
Disclosure of Invention
The invention provides a foolproof detection method, device and equipment applied to an unmanned carrying trolley, which are used for solving the problem that the material damage is caused by the fact that the material collision occurs due to the fact that the material information of a machine is wrong in the prior art.
According to an aspect of the embodiment of the present invention, there is provided a fool-proof detection method applied to an unmanned carrier, the fool-proof detection method applied to an unmanned carrier including:
acquiring a material handling instruction;
controlling the unmanned carrying trolley to move to the corresponding station machine position based on the material carrying instruction;
when the unmanned carrying trolley moves to a corresponding station machine position, acquiring first material information on the station machine based on a detection mechanism of the unmanned carrying trolley;
and generating a control instruction for controlling the unmanned carrying trolley to carry materials based on the material carrying instruction and the first material information, or generating a feedback instruction for indicating that the material carrying instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the unmanned carrier to continue carrying the material or generating a feedback instruction for indicating that the material carrying instruction is wrong based on the material carrying instruction and the material information includes:
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that no materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the automated guided vehicle to carry the material, or generating a feedback instruction for indicating that the material-carrying instruction is wrong, based on the material-carrying instruction and the first material information, includes:
if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that the materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
and if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, position information of the unmanned handling trolley is obtained, and an avoidance instruction for controlling the unmanned handling trolley to travel to the first position is generated based on the position information of the unmanned handling trolley.
In an alternative manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, controlling the unmanned handling trolley to establish communication connection with the machine;
receiving second material information sent by the station;
and sending the second material information and the first material information to a background.
In an optional manner, if the second material information accords with the first material information, a conveying termination instruction for controlling the unmanned conveying trolley to leave the station machine position is generated, and the conveying termination instruction is sent to the background.
In an alternative mode, if the material exists on the unmanned carrying trolley, acquiring a material state based on a detection mechanism of the unmanned carrying trolley;
comparing the material state with a preset state, and controlling the unmanned carrying trolley to stop moving and generating a feedback instruction of abnormal material state when the material state does not accord with the preset state;
And sending a feedback instruction of the abnormal material state to the background.
According to another aspect of the embodiments of the present invention, there is provided a fool-proof detection device applied to an unmanned carrier, including: the device comprises an acquisition module, a control module, a detection module and a judgment module.
The acquisition module is used for acquiring a material handling instruction;
the control module is used for controlling the unmanned carrying trolley to move to the corresponding machine position based on the material carrying instruction;
the detection module is used for acquiring first material information on the bench based on a detection mechanism of the unmanned carrying trolley when the unmanned carrying trolley moves to a corresponding bench position;
the judging module is used for generating a control instruction for controlling the carrying of the material of the unmanned carrying trolley or generating a feedback instruction for indicating that the material carrying instruction is wrong based on the material carrying instruction and the first material information.
In an optional manner, the judging module is further configured to generate a control instruction for controlling the automated guided vehicle to carry the material if the material carrying instruction is a first instruction for controlling the automated guided vehicle to place the material on the bench, and the first material information is that no material exists on the bench;
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, the judging module is further configured to generate a control instruction for controlling the automated guided vehicle to carry the material if the material carrying instruction is a second instruction for controlling the automated guided vehicle to acquire the material from the machine, and the first material information is that the material exists on the machine;
and if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, the obtaining module is further configured to obtain location information of the automated guided vehicle;
the judging module is further used for generating an avoidance instruction for controlling the unmanned carrying trolley to travel to the first position based on the position information of the unmanned carrying trolley.
According to another aspect of the embodiments of the present invention, there is provided a fool-proof detection apparatus applied to an unmanned carrier, including: comprising the following steps: processor, communication interface, memory, and communication bus.
Wherein: the processor, communication interface, and memory communicate with each other via a communication bus. A communication interface for communicating with network elements of other devices, such as clients or other servers, etc. The processor is configured to execute a program, and specifically may execute relevant steps in the embodiment of the parking stall recommendation method.
And the memory is used for storing programs. The memory may comprise high speed RAM memory or may also comprise non-volatile memory, such as at least one disk memory.
The program may be specifically invoked by the processor to cause the fool-proof detection device applied to the automated guided vehicle to:
acquiring a material handling instruction;
controlling the unmanned carrying trolley to move to the corresponding station machine position based on the material carrying instruction;
when the unmanned carrying trolley moves to a corresponding station machine position, acquiring first material information on the station machine based on a detection mechanism of the unmanned carrying trolley;
and generating a control instruction for controlling the unmanned carrying trolley to carry materials based on the material carrying instruction and the first material information, or generating a feedback instruction for indicating that the material carrying instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the unmanned carrier to continue carrying the material or generating a feedback instruction for indicating that the material carrying instruction is wrong based on the material carrying instruction and the material information includes:
if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that no materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the automated guided vehicle to carry the material, or generating a feedback instruction for indicating that the material-carrying instruction is wrong, based on the material-carrying instruction and the first material information, includes:
if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that the materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
And if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, position information of the unmanned handling trolley is obtained, and an avoidance instruction for controlling the unmanned handling trolley to travel to the first position is generated based on the position information of the unmanned handling trolley.
In an alternative manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, controlling the unmanned handling trolley to establish communication connection with the machine;
receiving second material information sent by the station;
and sending the second material information and the first material information to a background.
In an optional manner, if the second material information accords with the first material information, a conveying termination instruction for controlling the unmanned conveying trolley to leave the station machine position is generated, and the conveying termination instruction is sent to the background.
In an alternative mode, if the material exists on the unmanned carrying trolley, acquiring a material state based on a detection mechanism of the unmanned carrying trolley;
Comparing the material state with a preset state, and controlling the unmanned carrying trolley to stop moving and generating a feedback instruction of abnormal material state when the material state does not accord with the preset state;
and sending a feedback instruction of the abnormal material state to the background.
According to yet another aspect of embodiments of the present invention, there is provided a computer-readable storage medium having stored therein at least one executable instruction for causing a fool-proof detection apparatus/device applied to an unmanned carrier to:
acquiring a material handling instruction;
controlling the unmanned carrying trolley to move to the corresponding station machine position based on the material carrying instruction;
when the unmanned carrying trolley moves to a corresponding station machine position, acquiring first material information on the station machine based on a detection mechanism of the unmanned carrying trolley;
and generating a control instruction for controlling the unmanned carrying trolley to carry materials based on the material carrying instruction and the first material information, or generating a feedback instruction for indicating that the material carrying instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the unmanned carrier to continue carrying the material or generating a feedback instruction for indicating that the material carrying instruction is wrong based on the material carrying instruction and the material information includes:
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that no materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the automated guided vehicle to carry the material, or generating a feedback instruction for indicating that the material-carrying instruction is wrong, based on the material-carrying instruction and the first material information, includes:
if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that the materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
and if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, position information of the unmanned handling trolley is obtained, and an avoidance instruction for controlling the unmanned handling trolley to travel to the first position is generated based on the position information of the unmanned handling trolley.
In an alternative manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, controlling the unmanned handling trolley to establish communication connection with the machine;
receiving second material information sent by the station;
and sending the second material information and the first material information to a background.
In an optional manner, if the second material information accords with the first material information, a conveying termination instruction for controlling the unmanned conveying trolley to leave the station machine position is generated, and the conveying termination instruction is sent to the background.
In an alternative mode, if the material exists on the unmanned carrying trolley, acquiring a material state based on a detection mechanism of the unmanned carrying trolley;
comparing the material state with a preset state, and controlling the unmanned carrying trolley to stop moving and generating a feedback instruction of abnormal material state when the material state does not accord with the preset state;
And sending a feedback instruction of the abnormal material state to the background.
According to the embodiment of the invention, when the unmanned carrying trolley is used for placing materials on the bench or acquiring materials from the bench, the first material information on the bench is detected and compared with the material carrying instruction, when the first material information is determined to be matched with the material carrying instruction, the material carrying instruction is continuously executed, and when the first material information is determined to be not matched with the material carrying instruction, the material carrying instruction is temporarily stopped. By applying the technical scheme of the invention, the unmanned carrying trolley can be ensured to run safely as much as possible in the process of carrying the materials by the unmanned carrying trolley, and the situation of material collision is avoided.
The foregoing description is only an overview of the technical solutions of the embodiments of the present invention, and may be implemented according to the content of the specification, so that the technical means of the embodiments of the present invention can be more clearly understood, and the following specific embodiments of the present invention are given for clarity and understanding.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it will be obvious to those skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 shows a flowchart of an embodiment of a fool-proof detection method applied to an unmanned carrier according to an embodiment of the present invention;
fig. 2 is a schematic structural view showing an installation position of a detection mechanism on an unmanned carrying trolley;
fig. 3 is a schematic structural view of an embodiment of a fool-proof detection device applied to an unmanned carrier;
fig. 4 shows a schematic structural diagram of an embodiment of fool-proof detection equipment applied to an unmanned carrier.
Detailed Description
Fig. 1 shows a flowchart of a first embodiment of a fool-proof detection method applied to an unmanned carrier, which is performed by fool-proof detection method equipment applied to an unmanned carrier. As shown in fig. 1, the fool-proof detection method applied to the unmanned carrying trolley comprises the following steps:
Step 110: and acquiring a material handling instruction.
The material handling instruction is used for controlling an unmanned handling trolley (AGV trolley) to handle a material at a preset position to a specified bench and to be placed on a bench shaft of the bench, or used for controlling the unmanned handling trolley to acquire the material from the specified bench and to be placed at the preset position, and the preset position can be the bench or other equipment for storing, detecting or processing the material.
The material handling instructions are generated by a background and are sent to the unmanned handling trolley, the background is computer equipment used for controlling a handling warehouse or a production workshop, and at least the data information of all unmanned handling trolleys and desks in the warehouse or the production workshop can be obtained.
Step 120: and controlling the unmanned carrying trolley to move to the corresponding bench machine position based on the material carrying instruction.
The material handling instruction comprises corresponding position information of the platform, and a path from the unmanned handling trolley to the platform can be generated by a background and packaged into the material handling instruction, for example, the background acquires the position information of the unmanned handling trolley, and a navigation path from the unmanned handling trolley to the corresponding platform is generated according to the position information of the unmanned handling trolley and the position information of the platform. Of course, the path of the automated guided vehicle to the platform machine may be generated by the automated guided vehicle based on the position information of the automated guided vehicle.
It should be noted that, the material handling instruction may further include running speed information, and the background reasonably controls the running speeds of all the unmanned handling trolleys, so as to reduce mutual interference of the trolleys when the plurality of unmanned handling trolleys run in the same space.
Step 130: and when the unmanned carrying trolley moves to the corresponding station machine position, acquiring first material information on the station machine based on the detection mechanism of the unmanned carrying trolley.
As shown in fig. 2, the detection mechanism is disposed on the automated guided vehicle according to the embodiment of the present invention, where the detection range of the detection mechanism is on two sides of the material yoke of the automated guided vehicle, and the position is an area where the automated guided vehicle first enters the range of the platform shaft when the automated guided vehicle places the material on the platform shaft or obtains the material from the platform shaft, and the movement area of the detection range is also the movement area of the material on the automated guided vehicle, that is, at time K, the detection range of the detection mechanism is time k+1, and the position where the material on the automated guided vehicle will reach is located on the platform shaft.
The first material information is information that a material exists on the bench or information that a material does not exist on the bench, and it is required to explain that in part of scenes, the material is placed on the bench through a material rod, in the practical application process, a plurality of materials are placed on the bench through the same material rod, in the practical production process, the material on the material rod is gradually consumed, at this time, the material rod is still placed on the bench, if a new material needs to be replenished, the empty material rod needs to be taken away, and the material is replaced, so in the embodiment of the invention, whether the material exists on the bench or not is detected, if the material exists in a region where the material exists on the bench, the material (an empty material shaft or a material shaft with the material) is considered to exist on the bench, and if the material exists, the detection mechanism is a laser radar or a 3D camera.
Step 140: and generating a control instruction for controlling the unmanned carrying trolley to carry materials based on the material carrying instruction and the first material information, or generating a feedback instruction for indicating that the material carrying instruction is wrong.
Wherein, the control instruction for controlling the material handling of the unmanned handling trolley means: and controlling the unmanned carrying trolley to place materials on the bench or acquire the materials from the bench. In other words, in this case, the automated guided vehicle continues to execute the material handling instructions.
Wherein the automated guided vehicle will temporarily stop executing the material handling instructions upon generating a feedback instruction indicating that the material handling instructions are incorrect.
Specifically, if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place a material on the bench, and the first material information is that no material exists on the bench, the unmanned handling trolley can place the material on the bench normally, and a control instruction for controlling the unmanned handling trolley to handle the material is generated, so that the unmanned handling trolley can continue to execute the material handling instruction.
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that materials exist on the bench, at this time, if the unmanned handling trolley continues to execute the material handling trolley, the materials on the unmanned handling trolley collide with the materials on the bench, and under the condition that the unmanned handling trolley cannot normally complete the material placing task, a feedback instruction for indicating that the material handling instruction is wrong is generated, and the execution of the material handling instruction is temporarily stopped.
If the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that materials exist on the bench, at this time, the material handling trolley can acquire the materials from the bench, a control instruction for controlling the unmanned handling trolley to handle the materials is generated, so that the unmanned handling trolley can continue to execute the material handling instruction.
If the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, at this time, no materials to be handled exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong, and temporarily stopping executing the material handling instruction.
It should be noted that, because the detection mechanism judges whether the material exists according to whether the object exists in the detection range, in the practical application process, if the error exists in the stop position of the unmanned carrying trolley, the material on the unmanned carrying trolley can be prevented from colliding with other objects by using the technical scheme of the invention, so as to ensure the material safety.
According to the fool-proof detection method applied to the unmanned carrier, when the unmanned carrier is controlled to carry materials, and materials are placed on the bench by the unmanned carrier or obtained from the bench, the first material information on the bench is detected and compared with the material carrying instruction, the material carrying instruction is continuously executed when the first material information is determined to be matched with the material carrying instruction, and the material carrying instruction is temporarily stopped when the first material information is determined to be not matched with the material carrying instruction. By applying the technical scheme of the invention, the unmanned carrying trolley can be ensured to run safely as much as possible in the process of carrying the materials by the unmanned carrying trolley, and the situation of material collision is avoided.
In the embodiment of the present invention, if a feedback instruction for indicating that the material handling instruction is wrong is generated, the automated guided vehicle needs to temporarily stop executing the material handling instruction, where the automated guided vehicle is generally stopped at a last running position to wait for a next step instruction of a background, however, in a running space of the automated guided vehicle, other running devices are also present, and if the automated guided vehicle is stopped, the running of other devices may be affected, or the handling instruction of the automated guided vehicle is wrong, because the automated guided vehicle reaches a handling position in advance, for example, the automated guided vehicle places a material on the platform, but there is an empty material axle on the platform, and the material axle is cleared by another transporting device. At this time, the unmanned carrier stops at the position, which may affect the work of other devices or another transportation device, and in this embodiment of the present application, the fool-proof detection method applied to the unmanned carrier further includes: and acquiring the position information of the unmanned carrying trolley, and generating an avoidance instruction for controlling the unmanned carrying trolley to travel to a first position based on the position information of the unmanned carrying trolley. The first position refers to a position with less influence on other devices, for example, a trolley transfer position arranged on a geomagnetic navigation path. By the method, under the condition that the error exists in the material handling instruction, the probability that the unmanned handling trolley affects the operation of other equipment can be effectively reduced.
It should be noted that, in the actual application process, the first material information is not matched with the material handling instruction, so that the situation that the material handling instruction is determined to have errors may be caused by data transmission delay or errors, for example, when the background acquires the material information from the machine, the material information is transmitted to have errors, and at this time, the technical scheme of the invention can control the unmanned handling trolley to establish communication connection with the machine and directly receive the second material information sent by the machine from the machine; and then, the second material information and the first material information are sent to the background, so that the reason for the error of the material handling information is further determined.
In addition, in the practical application process, if the second material information accords with the first material information, in order to avoid long-time waiting of the unmanned carrying trolley, a carrying termination instruction for controlling the unmanned carrying trolley to leave the station machine position can be generated, the carrying termination instruction is sent to the background, and then, based on the carrying termination instruction, the unmanned carrying trolley is controlled to terminate the material carrying, or the unmanned carrying trolley is controlled to directly execute the next work task.
In the practical application process, based on the setting position of the detection mechanism, the detection mechanism can also detect the material state on the unmanned carrier (the detection range of the detection mechanism can be divided into different judgment areas, and the detection result of each judgment area is obtained at the same time) so as to prevent the situation that the transported material is inclined or wrong in the operation process of the unmanned carrier, particularly, the situation that the ground heights are different in the transportation place, particularly, if the material exists on the unmanned carrier, firstly, the material state is obtained based on the detection mechanism of the unmanned carrier; then comparing the material state with a preset state, and controlling the unmanned carrying trolley to stop moving and generating a feedback instruction of abnormal material state when the material state does not accord with the preset state; and finally, sending a feedback instruction of the abnormal material state to the background. By the mode, the safety of the materials transported by the unmanned transport trolley can be effectively improved.
The comparing the material state with the preset state means detecting the position information of the material relative to the unmanned carrying trolley, for example, the distance and angle between the material and the fork arm, comparing the position information with stored standard information (preset state), judging the difference between the position information and the standard information, and if the difference is in an error tolerance range, considering that the material state accords with the preset state. Of course, in the scheme of using the 3D camera, the material state may be taken through a photographed image, and the photographed image may be compared with a standard image to determine whether the material state meets a preset state.
Fig. 3 shows a schematic structural diagram of an embodiment of a fool-proof detection device applied to an unmanned carrier. As shown in fig. 3, the fool-proof detection device 300 applied to the automated guided vehicle includes: the device comprises an acquisition module 310, a control module 320, a detection module 330 and a judgment module 340.
The acquiring module 310 is configured to acquire a material handling instruction.
The control module 320 is configured to control the movement of the automated guided vehicle to the corresponding station based on the material handling instruction.
The detection module 330 is configured to obtain first material information on the bench based on a detection mechanism of the automated guided vehicle when the automated guided vehicle moves to a corresponding bench position.
The determining module 340 is configured to generate a control instruction for controlling the automated guided vehicle to carry the material, or generate a feedback instruction for indicating that the material carrying instruction is wrong, based on the material carrying instruction and the first material information.
In an optional manner, the determining module 340 is further configured to generate a control instruction for controlling the automated guided vehicle to carry the material if the material carrying instruction is a first instruction for controlling the automated guided vehicle to place the material on the bench, and the first material information is that no material exists on the bench.
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, the determining module 340 is further configured to generate a control instruction for controlling the automated guided vehicle to carry the material if the material carrying instruction is a second instruction for controlling the automated guided vehicle to acquire the material from the machine, and the first material information is that the material exists on the machine.
And if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an alternative manner, the obtaining module 310 is further configured to obtain the location information of the automated guided vehicle.
The determining module 340 is further configured to generate an avoidance command for controlling the automated guided vehicle to travel to the first position based on the location information of the automated guided vehicle.
Fig. 4 shows a schematic structural diagram of an embodiment of a fool-proof detection device applied to an unmanned carrier, which is not limited by the embodiment of the invention.
As shown in fig. 4, the fool-proof detection apparatus applied to the unmanned carrier may include: a processor 402, a communication interface (Communications Interface) 404, a memory 406, and a communication bus 408.
Wherein: processor 402, communication interface 404, and memory 406 communicate with each other via communication bus 408. A communication interface 404 for communicating with network elements of other devices, such as clients or other servers. The processor 402 is configured to execute the program 410, and may specifically perform the relevant steps in the embodiment of the fool-proof detection method for the unmanned carrier.
In particular, program 410 may include program code including computer-executable instructions.
The processor 402 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention. The fool-proof detection device applied to the unmanned carrying trolley comprises one or more processors which can be the same type of processor, such as one or more CPUs; but may also be different types of processors such as one or more CPUs and one or more ASICs.
Memory 406 for storing programs 410. Memory 406 may comprise high-speed RAM memory or may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
The program 410 may be specifically invoked by the processor 402 to cause a fool-proof detection device applied to an unmanned cart to:
and acquiring a material handling instruction.
And controlling the unmanned carrying trolley to move to the corresponding bench machine position based on the material carrying instruction.
And when the unmanned carrying trolley moves to the corresponding station machine position, acquiring first material information on the station machine based on the detection mechanism of the unmanned carrying trolley.
And generating a control instruction for controlling the unmanned carrying trolley to carry materials based on the material carrying instruction and the first material information, or generating a feedback instruction for indicating that the material carrying instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the unmanned carrier to continue carrying the material or generating a feedback instruction for indicating that the material carrying instruction is wrong based on the material carrying instruction and the material information includes:
And if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that no materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials.
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the automated guided vehicle to carry the material, or generating a feedback instruction for indicating that the material-carrying instruction is wrong, based on the material-carrying instruction and the first material information, includes:
and if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that the materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials.
And if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, position information of the unmanned handling trolley is obtained, and an avoidance instruction for controlling the unmanned handling trolley to travel to the first position is generated based on the position information of the unmanned handling trolley.
In an alternative manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, the unmanned handling trolley is controlled to establish communication connection with the machine.
And receiving the second material information sent by the station.
And sending the second material information and the first material information to a background.
In an optional manner, if the second material information accords with the first material information, a conveying termination instruction for controlling the unmanned conveying trolley to leave the station machine position is generated, and the conveying termination instruction is sent to the background.
In an alternative mode, if the material exists on the unmanned carrying trolley, the material state is acquired based on a detection mechanism of the unmanned carrying trolley.
Comparing the material state with a preset state, and controlling the unmanned carrying trolley to stop moving when the material state does not accord with the preset state, and generating a feedback instruction of abnormal material state.
And sending a feedback instruction of the abnormal material state to the background.
The embodiment of the invention provides a computer readable storage medium, which stores at least one executable instruction, and the executable instruction enables fool-proof detection equipment/device applied to an unmanned carrier to execute the fool-proof detection method applied to the unmanned carrier in any method embodiment when the executable instruction runs on fool-proof detection equipment/device applied to the unmanned carrier.
The executable instructions may be specifically for causing a fool-proof detection device/apparatus applied to an unmanned carrier to:
and acquiring a material handling instruction.
And controlling the unmanned carrying trolley to move to the corresponding bench machine position based on the material carrying instruction.
And when the unmanned carrying trolley moves to the corresponding station machine position, acquiring first material information on the station machine based on the detection mechanism of the unmanned carrying trolley.
And generating a control instruction for controlling the unmanned carrying trolley to carry materials based on the material carrying instruction and the first material information, or generating a feedback instruction for indicating that the material carrying instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the unmanned carrier to continue carrying the material or generating a feedback instruction for indicating that the material carrying instruction is wrong based on the material carrying instruction and the material information includes:
And if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that no materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials.
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an alternative manner, the step of generating a control instruction for controlling the automated guided vehicle to carry the material, or generating a feedback instruction for indicating that the material-carrying instruction is wrong, based on the material-carrying instruction and the first material information, includes:
and if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that the materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials.
And if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
In an optional manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, position information of the unmanned handling trolley is obtained, and an avoidance instruction for controlling the unmanned handling trolley to travel to the first position is generated based on the position information of the unmanned handling trolley.
In an alternative manner, if a feedback instruction for indicating that the material handling instruction is wrong is generated, the unmanned handling trolley is controlled to establish communication connection with the machine.
And receiving the second material information sent by the station.
And sending the second material information and the first material information to a background.
In an optional manner, if the second material information accords with the first material information, a conveying termination instruction for controlling the unmanned conveying trolley to leave the station machine position is generated, and the conveying termination instruction is sent to the background.
In an alternative mode, if the material exists on the unmanned carrying trolley, the material state is acquired based on a detection mechanism of the unmanned carrying trolley.
Comparing the material state with a preset state, and controlling the unmanned carrying trolley to stop moving when the material state does not accord with the preset state, and generating a feedback instruction of abnormal material state.
And sending a feedback instruction of the abnormal material state to the background.
According to the fool-proof detection method, the fool-proof detection device and the fool-proof detection equipment applied to the unmanned carrier, when the unmanned carrier is controlled to carry materials, the unmanned carrier is used for placing materials on the bench or acquiring materials from the bench, the first material information on the bench is detected and compared with the material carrying instruction, when the first material information is determined to be matched with the material carrying instruction, the material carrying instruction is continuously executed, and when the first material information is determined to be not matched with the material carrying instruction, the material carrying instruction is temporarily stopped. By applying the technical scheme of the invention, the unmanned carrying trolley can be ensured to run safely as much as possible in the process of carrying the materials by the unmanned carrying trolley, and the situation of material collision is avoided.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the foregoing is by way of illustration and description only, and is not intended to limit the scope of the invention.
Claims (10)
1. The fool-proof detection method applied to the unmanned carrying trolley is characterized by comprising the following steps of:
acquiring a material handling instruction;
controlling the unmanned carrying trolley to move to the corresponding station machine position based on the material carrying instruction;
when the unmanned carrying trolley moves to a corresponding station machine position, acquiring first material information on the station machine based on a detection mechanism of the unmanned carrying trolley;
and generating a control instruction for controlling the unmanned carrying trolley to carry materials based on the material carrying instruction and the first material information, or generating a feedback instruction for indicating that the material carrying instruction is wrong.
2. The fool-proof detection method for an automated guided vehicle according to claim 1, wherein the step of generating a control instruction for controlling continued conveyance of a material by the automated guided vehicle or generating a feedback instruction for indicating that the material conveyance instruction is wrong based on the material conveyance instruction and the material information comprises:
if the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that no materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
If the material handling instruction is a first instruction for controlling the unmanned handling trolley to place materials on the bench, and the first material information is that the materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
3. The fool-proof detection method for an automated guided vehicle according to claim 1, wherein the step of generating a control instruction for controlling a guided material of the automated guided vehicle or generating a feedback instruction for indicating that the guided material is wrong based on the guided material and the first material information comprises:
if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that the materials exist on the bench, generating a control instruction for controlling the unmanned handling trolley to handle the materials;
and if the material handling instruction is a second instruction for controlling the unmanned handling trolley to acquire materials from the bench, and the first material information is that no materials exist on the bench, generating a feedback instruction for indicating that the material handling instruction is wrong.
4. A fool-proof detection method applied to an unmanned carrier according to any one of claims 1 to 3, wherein if a feedback instruction for indicating that the material handling instruction is wrong is generated, the fool-proof detection method applied to an unmanned carrier further comprises:
And acquiring the position information of the unmanned carrying trolley, and generating an avoidance instruction for controlling the unmanned carrying trolley to travel to a first position based on the position information of the unmanned carrying trolley.
5. A fool-proof detection method applied to an unmanned carrier according to any one of claims 1 to 3, wherein if a feedback instruction for indicating that the material handling instruction is wrong is generated, the fool-proof detection method applied to an unmanned carrier further comprises:
controlling the unmanned carrying trolley to establish communication connection with the platform machine;
receiving second material information sent by the station;
and sending the second material information and the first material information to a background.
6. The fool-proof detection method for an unmanned carrier according to claim 5, wherein the fool-proof detection method for an unmanned carrier further comprises:
if the second material information accords with the first material information, generating a conveying termination instruction for controlling the unmanned conveying trolley to leave the station machine position, and sending the conveying termination instruction to the background.
7. The fool-proof detection method applied to an unmanned carrier according to claim 1, wherein the fool-proof detection method applied to an unmanned carrier further comprises:
If the material exists on the unmanned carrying trolley, acquiring a material state based on a detection mechanism of the unmanned carrying trolley;
comparing the material state with a preset state, and controlling the unmanned carrying trolley to stop moving and generating a feedback instruction of abnormal material state when the material state does not accord with the preset state;
and sending a feedback instruction of the abnormal material state to the background.
8. Fool-proof detection device for unmanned carrier, its characterized in that is applied to unmanned carrier's fool-proof detection device includes:
the acquisition module is used for acquiring the material handling instruction;
the control module is used for controlling the unmanned carrying trolley to move to the corresponding machine position based on the material carrying instruction;
the detection module is used for acquiring first material information on the bench based on a detection mechanism of the unmanned carrying trolley when the unmanned carrying trolley moves to a corresponding bench position;
and the judging module is used for generating a control instruction for controlling the carrying of the material of the unmanned carrying trolley or generating a feedback instruction for indicating that the material carrying instruction is wrong based on the material carrying instruction and the first material information.
9. Fool-proof detection equipment applied to unmanned carrier, which is characterized by comprising: the device comprises a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface complete communication with each other through the communication bus;
the memory is configured to store at least one executable instruction that causes the processor to perform the operations of the fool-proof detection method for use with an unmanned carrier vehicle according to any one of claims 1 to 7.
10. A computer-readable storage medium, wherein at least one executable instruction is stored in the storage medium, which when executed on a fool-proof detection apparatus/device applied to an unmanned carrier, causes the fool-proof detection apparatus/device applied to the unmanned carrier to perform the operations of the fool-proof detection method applied to the unmanned carrier according to any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117718715A (en) * | 2024-02-18 | 2024-03-19 | 宁德时代新能源科技股份有限公司 | Storage device, battery assembly system, control method and battery production system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117718715A (en) * | 2024-02-18 | 2024-03-19 | 宁德时代新能源科技股份有限公司 | Storage device, battery assembly system, control method and battery production system |
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