CN116331710A - Handling equipment, motion control method and device for handling equipment - Google Patents

Abstract

The invention provides handling equipment and a motion control method and device for the handling equipment, wherein the handling equipment includes a main body of the equipment, a control unit, and an integrated sensor; the integrated sensor includes a plurality of communication interfaces, which are arranged on the pick-up mechanism of the main body of the equipment, and communicate with the The control unit communicates through communication links, wherein the number of communication links is less than the number of communication interfaces; the control unit is configured to receive sensing information obtained by the integrated sensor through a plurality of communication interfaces through the communication link; according to the sensing information , to generate control information for the handling equipment; through the communication link, the control information is sent to the integrated sensor to control the movement of the handling equipment. Since the number of communication links is less than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, and the integrated sensor integrates multiple communication interfaces, so that the integrated sensor can realize multiple communication functions and improve the flexibility of the handling equipment performance and handling efficiency.

Description

Handling equipment, motion control method and device for handling equipment

technical field

The invention relates to the technical field of warehousing and logistics, in particular to a handling device. The present invention also relates to a motion control method of the handling equipment, a motion control device of the handling equipment, and a computer-readable storage medium.

Background technique

With the rapid development of e-commerce, the number of user orders has increased exponentially. In the warehouse, manual picking of orders will take a lot of time, resulting in extremely low efficiency. Therefore, intelligent warehousing has become the development trend of logistics.

In the prior art, autonomous mobile robots (AMR, Autonomous Mobile Robot) or automation equipment participate in intelligent warehousing, which can improve the efficiency of warehousing and logistics. However, whether it is an autonomous mobile robot or an automation device, various sensors are inseparable. Most sensor installations and electrical solutions are directly connected to the control system through cables, which will lead to complicated cable connections and take up a lot of space. As a result, the handling efficiency in the warehouse is low, and the system stability will also be affected accordingly. In turn, a more convenient and efficient handling solution is required.

Contents of the invention

In view of this, an embodiment of the present invention provides a handling device. The present invention also relates to a motion control method for the handling equipment, a motion control device for the handling equipment, and a computer-readable storage medium, so as to solve the technical defects in the prior art.

According to a first aspect of an embodiment of the present invention, a handling device is provided, and the handling device includes a device main body, a control unit, and an integrated sensor;

The integrated sensor includes a plurality of communication interfaces, which are arranged on the pick-up mechanism of the main body of the device, and communicate with the control unit through communication links, wherein the number of communication links is less than the number of communication interfaces;

The control unit is configured to receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link; generate control information for the handling equipment according to the sensing information; and send the control information to the integrated sensor through the communication link , to control the movement of the handling equipment.

According to the second aspect of the embodiments of the present invention, a motion control method for handling equipment is provided, which is applied to the control unit in the handling equipment, the main body of the handling equipment, the control unit, and the integrated sensor. The integrated sensor includes multiple communication interfaces. On the pick-up mechanism of the main body of the device, and communicate with the control unit through a communication link, wherein the number of communication links is less than the number of communication interfaces; the method includes:

Through the communication link, receive the sensing information obtained by the integrated sensor through multiple communication interfaces;

Generate control information for handling equipment based on sensing information;

Through the communication link, control information is sent to the integrated sensor to control the movement of the handling equipment.

According to the third aspect of the embodiments of the present invention, a motion control device for handling equipment is provided, which is applied to the control unit in the handling equipment, the main body of the handling equipment, the control unit, and the integrated sensor. The integrated sensor includes multiple communication interfaces. It is located on the pick-up mechanism of the main body of the equipment, and communicates with the control unit through a communication link, wherein the number of communication links is less than the number of communication interfaces; the device includes:

The receiving module is configured to receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link;

A generation module configured to generate control information for the handling equipment according to the sensing information;

The sending module is configured to send the control information to the integrated sensor through the communication link, so as to control the movement of the handling equipment.

According to a fourth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the motion control method for the handling equipment are implemented.

The handling device provided by the present invention includes a device main body, a control unit, and an integrated sensor; the integrated sensor includes a plurality of communication interfaces, which are arranged on the pick-up mechanism of the device main body, and communicate with the control unit through a communication link, wherein the communication link The number is less than the number of communication interfaces; the control unit is configured to receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link; generate control information for the handling equipment according to the sensing information; through the communication link, Send control information to integrated sensors to control handling equipment movement.

In one embodiment of the present invention, since the number of communication links is smaller than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, making the handling equipment more flexible and convenient, and the integrated sensor integrates multiple communication interfaces to realize Collecting, forwarding and processing a variety of communication information enables the integrated sensor to realize a variety of communication functions, improving the flexibility and handling efficiency of the handling equipment.

Description of drawings

Fig. 1 is a system architecture diagram of a handling system provided by an embodiment of the prior art;

Fig. 2 is a frame diagram of a handling device provided by an embodiment of the present invention;

Fig. 3 is a measurement schematic diagram of a distance measuring sensor in a handling device provided by an embodiment of the present invention;

Fig. 4 is a flow chart of a motion control method of a handling device provided by an embodiment of the present invention;

Fig. 5a is a schematic diagram of the installation position of an integrated sensor in a handling device provided by an embodiment of the present invention;

Fig. 5b is a system architecture diagram of a handling system provided by an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a motion control device for a handling device provided by an embodiment of the present invention.

Detailed ways

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar extensions without violating the connotation of the present invention, so the present invention is not limited by the specific implementations disclosed below.

Terms used in one or more embodiments of the present invention are for the purpose of describing particular embodiments only, and are not intended to limit the one or more embodiments of the present invention. As used in one or more embodiments of the invention and the appended claims, the singular forms "a", "the", and "the" are also intended to include the plural forms unless the context clearly dictates otherwise. It should also be understood that the term "and/or" used in one or more embodiments of the present invention refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present invention, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, a first could be termed a second, and, similarly, a second could be termed a first, without departing from the scope of one or more embodiments of the present invention. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

First, terms and terms involved in one or more embodiments of the present invention are explained.

Analog sensor: The analog sensor sends out a continuous signal, and uses voltage, current, resistance, etc. to indicate the size of the measured parameter. For example, temperature sensors, pressure sensors, etc. are common analog sensors.

Photoelectric sensor: A photoelectric sensor is a device that converts light signals into electrical signals. Its working principle is based on the photoelectric effect.

Steering gear: The steering gear is a position (angle) servo drive, suitable for control systems that require constant changes in angle and can be maintained. It is widely used in high-end remote control toys, such as airplanes, submarine models, and remote control robots.

Through-beam sensor: The working principle of the through-beam sensor is that the transmitting end emits red light or infrared light, and the receiving end receives it. An electronic device that outputs a signal when an object is cut off by light.

Autonomous Mobile Robot (AMR, AutonomousMobileRobot): AMR is an industrial robot that can lift and transport materials such as pallets within a facility. Robots can safely navigate around people, equipment and inventory by reading QR codes on facility floors or using light detection and ranging (lidar) to sense their surroundings and obstacles.

TOF: (TOF, TimeOfFlight) is literally translated as time of flight. Time-of-flight technology can be understood as measuring the time it takes for an object, particle or wave to fly a certain distance in a fixed medium, and knowing the speed of light and flight time, the distance of the measured object can be obtained.

Analog quantity: The physical quantity that is continuous in time or in value is called analog quantity.

Digital quantities: Physical quantities that are discrete in time and quantity are called digital quantities.

In the present invention, a handling device is provided. The present invention also relates to a motion control method of the handling device, a motion control device of the handling device, and a computer-readable storage medium, which are described in detail in the following embodiments one by one. illustrate.

With the rapid development of e-commerce, the number of user orders has increased exponentially. In the warehouse, manual picking of orders will take a lot of time, resulting in extremely low efficiency. Therefore, intelligent warehousing has become the development trend of logistics. In the prior art, AMR robots or automation equipment participate in intelligent warehousing, which can improve the efficiency of warehousing and logistics. In the application of intelligent warehousing, no matter AMR robot or automation equipment, it is inseparable from photoelectric detection technology and communication transfer.

Referring to FIG. 1 , FIG. 1 shows a system architecture diagram of a transport system provided by an embodiment of the prior art. In existing solutions, general-purpose photoelectric sensors are usually used to achieve data acquisition. However, the analog and level quantities (IO, InputOutput) generated by the analog sensor need to be transferred through an analog-to-digital module before being sent to the robot. Control System. At the same time, when connecting various sensors such as photoelectric sensors, steering gears, and through-beam sensors to the robot control system, it is necessary to configure a towline cable for each sensor, but this method is complicated to connect and the towline cable takes up a lot of space. Big and expensive. Among them, the analog to digital module includes but not limited to an analog to RS485 module, an analog to RS422 module, a serial communication protocol (CAN, ControllerAreaNetwork), and an IO conversion module.

In order to solve the above problems, the embodiment of the present invention provides a multifunctional fusion sensor, which integrates TOF photoelectricity, various communication interfaces, and external signal acquisition interfaces, and can directly communicate with analog sensors, saving analog Digital module, so as to realize the distance detection of handling equipment, signal acquisition, signal transfer and other functions.

Specifically, an embodiment of the present invention provides a handling device. The handling device includes a device main body, a control unit, and an integrated sensor; Link communication, wherein the number of communication links is less than the number of communication interfaces; the control unit is configured to receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link; according to the sensing information, generate The control information of the equipment; through the communication link, the control information is sent to the integrated sensor to control the movement of the handling equipment. Since the number of communication links is less than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, making the handling equipment more flexible and convenient, and the communication links simpler. In addition, the integrated sensor integrates multiple communication interfaces to realize the A variety of communication information is collected, forwarded and processed, so that the integrated sensor can realize a variety of communication functions, save the analog to digital module, improve the flexibility and handling efficiency of the handling equipment, reduce the handling cost, and ensure the reliability of the handling system. stability.

Fig. 2 shows a frame diagram of a handling device provided by an embodiment of the present invention, wherein the handling device 200 includes a device main body 202, a control unit 204 and an integrated sensor 206;

The integrated sensor 206 includes a plurality of communication interfaces, which are arranged on the pick-up mechanism of the device main body 202, and communicate with the control unit 204 through a communication link, wherein the number of communication links is less than the number of communication interfaces;

The control unit 204 is configured to receive the sensing information obtained by the integrated sensor 206 through multiple communication interfaces through the communication link; generate control information for the handling device 200 according to the sensing information; and send the control information through the communication link To integrate sensors 206 to control the movement of the handling equipment 200 .

In the embodiment of the present invention, after the control unit sends the control information to the integrated sensor through the communication link, the integrated sensor can collect and store the control information. Furthermore, the integrated sensor can also forward the control information to the steering gear of the equipment, and the steering gear of the equipment controls the finger gesture in the handling equipment.

It should be noted that the integrated sensor can also be understood as a multifunctional TOF sensor. The multiple communication interfaces include at least two types of interfaces such as analog interface, digital interface, RS484 interface, distance measurement information transmission interface and the like. The communication interface can connect other sensors or units, such as through-beam sensors and servos. Handling equipment can be understood as transport equipment, including but not limited to transport trolleys, autonomous mobile robots, automatic jack-up transport equipment that is separated from shelves, and the like. The fetching mechanism can be understood as a dynamic adjustment mechanism, such as a telescopic fork. The control unit can be understood as a robot control system, or as a main control unit.

Applying the solution of the embodiment of the present invention, the handling device includes a device main body, a control unit, and an integrated sensor; the integrated sensor includes a plurality of communication interfaces, which are arranged on the pick-up mechanism of the device main body, and communicate with the control unit through a communication link, wherein, The number of communication links is less than the number of communication interfaces; the control unit is configured to receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link; generate control information for the handling equipment according to the sensing information; Communication link to send control information to integrated sensors to control handling equipment movement. Since the number of communication links is less than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, making the handling equipment more flexible and convenient, and the integrated sensor integrates multiple communication interfaces to realize the collection of various communication information , forwarding and processing, so that the integrated sensor can realize a variety of communication functions, which improves the flexibility and handling efficiency of the handling equipment.

It should be noted that since the integrated sensor in the handling equipment provided by the embodiment of the present invention has multiple communication interfaces such as reading external IO input, external analog input, CAN communication, RS485 communication, and RS232, it can meet various requirements. The installation requirements of the handling equipment, the interface is flexible and can realize a variety of communication functions. Therefore, the handling equipment provided by the embodiment of the present invention can be applied to multiple fields such as warehousing logistics, factory handling, hotel or restaurant handling, etc. Specifically, it can be applied to handling equipment obstacle avoidance, telescopic fork servo communication transfer, handling equipment distance detection, etc. There are various scenarios, and the application scenario of the handling equipment is selected according to the actual situation, which is not limited in this embodiment of the present invention.

In an optional embodiment of the present invention, the above-mentioned handling equipment can be applied to the scene of retrieving and returning the container. After any task of retrieving and returning the container is completed, the retrieval mechanism can be recovered to the position when the task of retrieving and returning the container is not started , that is, the fetching mechanism is recovered to the original position, so as to facilitate the next task of fetching and returning the container. Therefore, the control unit can receive the relevant data collected by the analog sensor, and use the relevant data to judge whether the fetching mechanism is retracted to the original position, that is, the above-mentioned multiple communication interfaces include at least an analog interface, and the integrated sensor communicates with the analog through the analog interface. The sensor is connected, the sensing information includes the mechanism position of the fetching mechanism, and the control information includes the control information of the fetching mechanism;

The integrated sensor is configured to receive the position of the mechanism detected by the analog sensor through the analog interface; and send the position of the mechanism to the control unit;

The control unit is further configured to generate object-retrieving mechanism control information for the handling device according to the location of the mechanism, wherein the object-retrieving mechanism control information is used to control the object-retrieving mechanism to return to the original position.

Specifically, the analog quantity sensor is a photoelectric sensor, and judges whether the fetching mechanism is retracted to the original position by detecting the position of the fetching mechanism. The cargo box refers to a mechanical unit used to carry items, which can be a box structure or a platform structure. The box structure includes a standard box and an oblique box. Units to be transported include but are not limited to single boxes, multi-layer boxes with partitions in the middle, turnover boxes, cartons, original boxes, pallets, etc. The mechanism position includes the current coordinates (a, b, c) of the object retrieval mechanism, and may also include the distance between the object retrieval mechanism and the analog sensor, which is selected according to the actual situation, which is not limited in this embodiment of the present invention.

In practical applications, the analog sensor responds to the detection command for the object retrieval mechanism, detects the object retrieval mechanism, and obtains the mechanism position of the object retrieval mechanism as "the distance from the analog quantity sensor is A". At this time, the analog quantity The sensor can send the mechanism position of the picking mechanism to the integrated sensor through the analog interface, and the integrated sensor can send the mechanism position to the control unit, and the control unit will generate the picking mechanism control information for the handling equipment according to the mechanism position, and will take The control information of the object mechanism is sent to the integrated sensor, and the integrated sensor forwards the control information of the object retrieval mechanism to the steering gear of the object retrieval mechanism, so that the steering gear of the object retrieval mechanism can recycle the object retrieval mechanism based on the control information of the object retrieval mechanism, so that the object retrieval mechanism can be recycled to original location.

In a possible implementation of the present invention, after the integrated sensor receives the current mechanism position, it can directly send the mechanism position to the control unit, and the control unit obtains the original position of the object retrieval mechanism, and further compares the original position with the current mechanism position, Generate object fetching mechanism control information for the object fetching mechanism.

Exemplarily, assuming that the current mechanism position of the fetching mechanism is "the distance from the analog sensor is A", the control unit obtains the original position of the fetching mechanism as "the distance from the analog sensor is B", and the control unit The unit makes a difference between the original position and the current mechanism position, and generates the retrieval mechanism control information "retrieving mechanism A-B" for the retrieval mechanism.

In another possible implementation of the present invention, after the integrated sensor receives the current mechanism position, it can obtain the original position of the fetching mechanism, further compare the original position with the current mechanism position, and judge whether the current fetching mechanism is recovered to the original position, If yes, send the information that "the retrieval mechanism has been recovered to the original position" to the control unit; if not, then the retrieval mechanism adjustment information can be generated according to the original position and the current mechanism position, and the retrieval mechanism adjustment information can be sent to the control unit " The fetching mechanism has not been recovered to the original position, and needs to be recovered X", after the control unit receives the information of "The fetching mechanism has not been recovered to the original position, and X needs to be recovered", it can directly send the fetching mechanism control information to the integrated sensor" The fetching mechanism recycles X", and can also verify the adjustment information of the fetching mechanism, and send the fetching mechanism control information to the integrated sensor after the verification is passed.

Applying the solution of the embodiment of the present invention, the integrated sensor receives the mechanism position detected by the analog sensor through the analog quantity interface; sends the mechanism position to the control unit; The control information of the object mechanism, wherein the control information of the object retrieval mechanism is used to control the retrieval of the object retrieval mechanism to the original position. Since the integrated sensor includes an analog interface, the information of the analog sensor can be forwarded to the control unit, thereby saving an additional analog to digital module, and the analog sensor does not need to be directly connected to the control unit through a drag chain cable, making the wiring more concise , avoiding the problems caused by complex wiring, improving the flexibility and handling efficiency of the handling equipment, and reducing the handling cost.

In an optional embodiment of the present invention, the above-mentioned handling equipment can be applied in the scene of picking up and returning the boxes. Carrying out, thereby controlling the stretching or stopping of the fetching mechanism in time. Therefore, the control unit can receive relevant data collected by the beam-to-beam sensor, use the relevant data to determine whether the object retrieval mechanism can carry the container, and further control the motion state of the object retrieval mechanism, that is, the above-mentioned multiple communication interfaces include at least digital Interface, the integrated sensor is connected to the through-beam sensor through the digital interface, the sensing information includes the handling status information, and the control information includes the motion information of the pick-up mechanism;

The integrated sensor is configured to receive the handling status information sent by the through-beam sensor through the digital interface; send the handling status information to the control unit;

The control unit is further configured to generate motion information of the object-retrieving mechanism for the conveying device according to the conveying state information, wherein the motion information of the object-retrieving mechanism is used to control the motion state of the object-retrieving mechanism.

Specifically, the transport status information indicates whether the container can be transported currently.

In practical applications, when the pick-up mechanism is ready to carry the container, the through-beam sensor is not triggered. When the container enters the pick-up mechanism, the through-beam sensor is triggered. When the cargo box is at a suitable position in the fetching mechanism, the through-beam sensor becomes not triggered, and the cargo box can be carried at this moment. The through-beam sensor can send the handling status information "can carry the container" to the integrated sensor through the digital interface, and the integrated sensor can send the handling status information "can carry the container" to the control unit, and the control unit will handle it according to the State information, generate motion information of the fetching mechanism for the handling equipment, and send the motion information of the fetching mechanism to the integrated sensor, and the integrated sensor forwards the motion information of the fetching mechanism to the steering gear of the fetching mechanism, so that the steering gear of the fetching mechanism is based on the The movement information of the object mechanism controls the extension and contraction of the object retrieval mechanism or stops the expansion and contraction, so that the object retrieval mechanism can successfully carry the cargo box.

It should be noted that the through-beam sensor can send the handling status information to the integrated sensor in real time whether the container can be transported or not, and can also send the transport status information to the integrated sensor only when the transport status information indicates that the container can be transported currently , specifically selected according to the actual situation, which is not limited in this embodiment of the present invention.

In a possible implementation of the present invention, after the integrated sensor receives the current conveying status information "the container can be transported", it can directly send the conveying status information to the control unit, and the control unit analyzes the conveying status information to generate The object retrieval mechanism control information for the object retrieval mechanism is "the object retrieval mechanism stops extending forward and starts to recover".

In another possible implementation of the present invention, after the integrated sensor receives the current conveying state information "Can carry the container", it can analyze the conveying state information and generate the fetching mechanism adjustment information for the fetching mechanism "Take The object mechanism can stop extending forward", and send the object retrieval mechanism adjustment information "The object retrieval mechanism can stop extending forward" to the control unit, after the control unit receives the information "The object retrieval mechanism can stop extending forward", it can directly send it to the integrated sensor The fetching mechanism control information "the fetching mechanism stops extending forward and starts to recover", can also verify the adjustment information of the fetching mechanism, and send the fetching mechanism control information to the integrated sensor after the verification is passed.

Applying the scheme of the embodiment of the present invention, the integrated sensor receives the conveying state information sent by the beam-to-beam sensor through the digital quantity interface; sends the conveying state information to the control unit; the control unit generates the movement of the fetching mechanism for the conveying equipment according to the conveying state information Information, wherein the motion information of the fetching mechanism is used to control the motion state of the fetching mechanism. Since the integrated sensor includes a digital interface, the information of the through-beam sensor can be forwarded to the control unit, and the through-beam sensor does not need to be directly connected to the control unit through the towline cable, and can be connected to the control unit through the communication link between the integrated sensor and the control unit. The transmission of the unit makes the wiring more concise, avoids the problems caused by the complicated wiring, improves the flexibility and handling efficiency of the handling equipment, and reduces the handling cost.

In an optional embodiment of the present invention, the above-mentioned handling equipment can be applied in the scene of obstacle avoidance or object distance detection of the handling equipment. Whether there is an obstacle in front of the equipment, so as to control the handling equipment in time to avoid obstacles. Therefore, the control unit can receive the relevant data collected by the ranging sensor, and use the relevant data to determine whether the handling equipment will move, so as to avoid obstacles. The transmission interface is connected with the ranging sensor, the sensing information includes distance data from the target object, and the control information includes equipment movement control information;

The integrated sensor is configured to receive the distance data obtained by the distance measurement sensor from the measurement of the target object through the distance measurement information transmission interface; and send the distance data to the control unit;

The control unit is further configured to generate equipment movement control information for the transport equipment according to the distance data, wherein the equipment movement control information is used to guide the movement of the transport equipment.

Specifically, the distance data includes a distance value, and also includes coordinates of the target object relative to the distance measuring sensor. The ranging sensor can measure the target object through single point mode or area array mode. The single-point mode obtains one distance data, and the area array mode obtains m*n distance data. The ranging sensor refers to a sensor with a ranging function, including but not limited to a laser ranging sensor, an infrared ranging sensor, or an ultrasonic ranging sensor, which is selected according to the actual situation, and is not limited in this embodiment of the present invention.

In practical applications, during the movement of the handling equipment, the ranging sensor can detect the objects around the handling equipment, obtain the distance data of each object, and send the distance data to the integrated sensor through the ranging information transmission interface, and the integrated sensor can calculate the distance The data "the distance from the ranging sensor is A" is sent to the control unit, and the control unit generates equipment movement control information for the handling equipment based on the distance data. After the control unit generates the equipment movement control information, it can directly send the equipment movement control information to the motion actuator, so that the motion actuator can guide the movement process of the handling equipment based on the equipment movement control information, so that the handling equipment can successfully avoid obstacles. The actuators include walking motor drivers, rotating motor drivers, telescopic motor drivers, lifting motor drivers and so on. The control unit can also send the equipment movement control information to the integrated sensor, and the integrated sensor forwards the equipment movement control information to the equipment steering gear, and the equipment steering gear controls the attitude of the fingers in the handling equipment.

It should be noted that the distance data sent by the integrated sensor to the control unit may be in various forms, which are selected according to actual conditions, and are not limited in this embodiment of the present invention.

In a possible implementation of the present invention, the integrated sensor can directly forward the distance data sent by the ranging sensor to the control unit, and the control unit analyzes whether there is a value less than or equal to the preset distance threshold in the distance data, and if so, it indicates The object corresponding to the distance data is an obstacle, and at the same time, the control unit can also determine whether the obstacle is to the left or to the right, and generate accurate equipment movement control information.

In another possible implementation of the present invention, after the integrated sensor receives the distance data sent by the ranging sensor, it can analyze whether there is a value less than or equal to the preset distance threshold in the distance data, and if so, it indicates that the distance data corresponds to The object is an obstacle, and the integrated sensor can also determine whether the obstacle is left or right. If the object is an obstacle, it will send the distance data "there is an obstacle, and the position information of the obstacle is X" to the control unit.

Applying the scheme of the embodiment of the present invention, the integrated sensor receives the distance data obtained by the distance measurement sensor from the measurement of the target object through the distance measurement information transmission interface; sends the distance data to the control unit; the control unit generates the equipment for the handling equipment according to the distance data Movement control information, wherein the equipment movement control information is used to guide the movement of the transport equipment. Since the integrated sensor includes a distance measurement information transmission interface, the measurement information of the distance measurement sensor can be forwarded to the control unit, and the distance measurement sensor does not need to be directly connected to the control unit through the drag chain cable, but can be connected through the communication link between the integrated sensor and the control unit. The communication transmission between the circuit and the control unit makes the wiring more concise, avoids the problems caused by complicated wiring, improves the flexibility and handling efficiency of the handling equipment, and reduces the handling cost.

In an optional embodiment of the present invention, when the integrated sensor directly forwards the information collected by the ranging sensor to the control unit, and the control unit performs data analysis, the above control unit is also configured to compare the distance data with the preset Set a distance threshold for comparison; if there is data less than or equal to the preset distance threshold in the distance data, determine that the target object is the first obstacle of the handling equipment; obtain the current position information of the handling equipment and the object position information of the target object; According to the current position information and the object position information, generate equipment movement control information for the handling equipment.

It should be noted that the current position information includes coordinate information of the transport equipment, and the object position information includes coordinate information of the target object. According to the current position information and the object position information, when generating the equipment movement control information for the handling equipment, the current position information and the object position information can be compared. If the abscissa coordinates of the handling equipment and the target object are the same, adjust the preset The adjustment value is set so that the handling equipment moves according to the adjusted abscissa, and the abscissa of the moving equipment is different from the abscissa of the target object after the movement. Further, after the transport equipment moves, it can receive the distance information sent again by the distance measuring sensor, and judge whether the target object is still the first obstacle of the transport equipment.

For example, assuming that the ranging sensor is a TOF sensor in single-point mode, the distance data obtained by the ranging sensor from the measurement of the target object is "10", the control unit obtains the preset distance threshold as "15", and stores the distance data "10" as Compared with the preset distance threshold "15", since the distance data is less than the preset distance threshold, it can be determined that the target object is the first obstacle of the handling equipment, and the current position information of the handling equipment is (2,2), and the target The object position information of the object is (2,12), then according to the current position information and the object position information, the preset adjustment threshold "2" is added to the abscissa of the handling equipment, and the equipment movement control information for the handling equipment is further generated as "towards Move 2" left or 2" right.

Applying the scheme of the embodiment of the present invention, the control unit compares the distance data with a preset distance threshold; if there is data less than or equal to the preset distance threshold in the distance data, determine that the target object is the first obstacle of the handling equipment; Obtain the current location information of the handling equipment and the object location information of the target object; generate equipment movement control information for the handling equipment according to the current location information and the object location information. Since the integrated sensor includes a distance measurement information transmission interface, the information of the distance measurement sensor can be forwarded to the control unit, and the distance measurement sensor does not need to be directly connected to the control unit through the drag chain cable, which makes the wiring more concise and avoids problems caused by complicated wiring , Improve the flexibility and handling efficiency of the handling equipment, and reduce the handling cost.

In an optional embodiment of the present invention, when the integrated sensor performs data analysis on the data collected by the ranging sensor, the integrated sensor is further configured to compare the distance data with a preset distance threshold; In the case where there is less than or equal to the preset distance threshold, it is determined that the target object is the second obstacle of the handling equipment; the object position information of the target object is sent to the control unit;

The control unit is further configured to obtain current position information of the transport equipment; and generate equipment movement control information for the transport equipment according to the current position information and object position information.

It should be noted that since the target objects are usually irregular and have different depths, the accuracy of the distance data measured by the TOF sensor in the single-point mode is slightly poor. Therefore, the target object can be measured by the TOF sensor in the area array mode. Referring to FIG. 3 , FIG. 3 shows a schematic diagram of measurement of a distance measuring sensor in a handling device provided by an embodiment of the present invention. As shown in Figure 3, it is assumed that the ranging sensor is a TOF sensor in an area array mode that can perceive the outline of an object. The TOF detection module in the TOF sensor emits a TOF sensor beam, and the target object is measured through the TOF sensor beam. When there is an obstacle on the side, some or all of the m*n data fed back by the image array will change. At this time, the m*n distance data within the measurement range is obtained, and the m*n distance The data are "a11, a12, ..., a1m, a21, a31, ..., an1", respectively. The outline of the measured object can be described through the m*n distance data, which can avoid obstacles more accurately than the single-point ranging method. After the integrated sensor obtains the m*n distance data measured by the ranging sensor, the m*n distance data are compared with the preset distance threshold, and if any distance data is less than or equal to the preset distance threshold, it can be determined The target object is the second obstacle of the transport equipment, and the object position information is sent to the control unit, and the control unit generates equipment movement control information for the transport equipment according to the current position information of the transport equipment and the object position information.

Further, the target object can be identified through m*n distance data. In a possible implementation of this specification, after the integrated sensor obtains the m*n distance data sent by the ranging sensor, it can determine the object contour of the target object according to the m*n distance data, and compare the object contour with the preset object contour In contrast, if the outline of the object is the same as the outline of the preset object, it means that the identification is passed; if the outline of the object is different from the outline of the preset object, it means that the identification fails. In another possible implementation of this specification, the integrated sensor can send m*n distance data to the control unit, and the control unit determines the object contour of the target object according to the m*n distance data, and compares the object contour with the preset object The contours are compared to identify the target object.

Applying the solution of the embodiment of the present invention, the integrated sensor compares the distance data with a preset distance threshold; if there is data less than or equal to the preset distance threshold in the distance data, it is determined that the target object is the second obstacle of the handling equipment; The object position information of the target object is sent to the control unit; the control unit acquires the current position information of the handling equipment; and generates equipment movement control information for the handling equipment according to the current position information and the object position information. Since the integrated sensor includes a distance measurement information transmission interface, the information of the distance measurement sensor can be forwarded to the control unit, and the distance measurement sensor does not need to be directly connected to the control unit through the drag chain cable, which makes the wiring more concise and avoids problems caused by complicated wiring , Improve the flexibility and handling efficiency of the handling equipment, and reduce the handling cost.

In an optional embodiment of the present invention, the control unit compares the distance data with a preset distance threshold, and after determining that the target object is the first obstacle of the handling equipment, it can judge the next action of the handling equipment according to the distance data, and then proceed to One action may be that the handling equipment moves to find an obstacle-free position and then moves or executes the telescopic fork action, or it may broadcast a warning through the obstacle prompt information, that is, the above-mentioned control unit is also configured to have distance data less than In the case of the data equal to the preset distance threshold, the obstacle prompting information is generated, wherein the obstacle prompting information is used to prompt that the target object is an obstacle of the conveying equipment.

It should be noted that the obstacle prompt information includes but not limited to the obstacle prompt text, the obstacle prompt signal light, the obstacle prompt voice, etc., which are selected according to the actual situation, and are not limited in this embodiment of the present invention.

In practical applications, the control unit can send the obstacle prompt information to the dispatching unit, and the dispatch unit dispatches the display unit or the audio playback unit to realize the display of the obstacle prompt information, the obstacle prompt signal light flashing or always on, and the audio playback unit playing the obstacle prompt voice. at least one of .

Applying the solutions of the embodiments of the present invention, the control unit generates obstacle prompting information when there is data less than or equal to a preset distance threshold in the distance data, wherein the obstacle prompting information is used to prompt that the target object is an obstacle of the transport equipment. When the target object is an obstacle of the handling equipment, the obstacle prompt information is used to prompt the obstacle in time, so that the handling equipment can quickly avoid obstacles, improve the flexibility of the handling equipment and avoid irreversible damage to the handling equipment or the target object.

In an optional embodiment of the present invention, the handling equipment further includes equipment steering gear, and correspondingly, the plurality of communication interfaces also include steering gear connection interfaces; the control unit generates control information for the handling equipment, and sends the control information to the integrated sensor Afterwards, the integrated sensor can forward the control information to the equipment steering gear, and control the movement of the handling equipment through the equipment steering gear, that is, the above-mentioned integrated sensor is also configured to send the control information to the equipment steering gear through the steering gear connection interface, so that The equipment steering gear controls the movement of the handling equipment based on the control information.

For example, assuming that the control information is "rotate the object-retrieving mechanism by 90 degrees", the integrated sensor sends the control information to the device steering gear through the steering gear connection interface, and the device steering gear rotates the object-retrieving mechanism by 90 degrees in response to the control information.

Applying the solution of the embodiment of the present invention, the integrated sensor sends the control information to the equipment steering gear through the steering gear connection interface, so that the equipment steering gear performs motion control on the handling equipment based on the control information. Therefore, the handling equipment is flexibly controlled, and the handling efficiency of the handling equipment is improved.

In an optional embodiment of the present invention, since the integrated sensor includes multiple communication interfaces, when the integrated sensor sends sensing information to the control unit, it can identify which communication interface the sensing information comes from, and accordingly, the control unit sends the integrated When the sensor sends the control information, it can also identify which communication interface the control information is sent to, that is, the above-mentioned integrated sensor is also configured to perform format conversion on the sensing information to obtain the sensing information in the target format; convert the sensing information in the target format sent to the control unit, wherein the target format is used to identify the communication interface corresponding to the sensing information.

It should be noted that the integrated sensor can receive sensing information through multiple communication interfaces. In order to distinguish the sensing information transmitted by different communication interfaces, a frame header and frame tail can be added to the sensing information transmitted by each communication interface. Sensing information is converted to the target format including frame header and frame trailer. Wherein, the frame header can be understood as a start symbol, and the frame tail can be understood as a terminator, and the frame header and frame tail can be selected according to actual conditions, which is not limited in this embodiment of the present invention.

For example, assuming that the sensing information transmitted by communication interface A is aaaaaa, and the sensing information transmitted by communication interface B is bbbbbb, then the integrated sensor adds frame header S and frame tail E to each sensing information, and then obtains the sensing information The message is SaaaaaaESbbbbbbE.

Furthermore, in order to identify the corresponding relationship between the sensing information and the communication interface, an interface label can be added to the sensing information, and the sensing information can be converted into a target format including the interface label. The interface label is selected according to the actual situation. The embodiment of the invention does not make any limitation on this.

For example, assuming that the integrated sensor includes a communication interface A and a communication interface B, the interface label 1100 can be used to indicate that the sensing information comes from the communication interface A, and the interface label 0011 can be used to indicate that the sensing information is from the communication interface B.

Applying the solution of the embodiment of the present invention, the integrated sensor converts the format of the sensing information to obtain the sensing information in the target format; sends the sensing information in the target format to the control unit, wherein the target format is used to identify the sensor information corresponding to Communication Interface. By converting the sensing information into the target format, the communication interface corresponding to the sensing information can be determined, which facilitates the processing of the sensing information and improves the efficiency of information transmission.

Figure 4 shows a flow chart of a motion control method for handling equipment provided by an embodiment of the present invention, the motion control method for handling equipment is applied to the control unit in the handling equipment, the main body of the handling equipment, the control unit and the integrated sensor , the integrated sensor includes a plurality of communication interfaces, which are arranged on the pick-up mechanism of the device main body, and communicate with the control unit through a communication link, wherein the number of communication links is less than the number of communication interfaces; the above method specifically includes the following steps:

Step 402: Receive sensing information obtained by the integrated sensor through multiple communication interfaces through a communication link.

Step 404: Generate control information for the transport equipment according to the sensing information.

Step 406: Send the control information to the integrated sensor through the communication link, so as to control the movement of the handling equipment.

In an optional embodiment of the present invention, the multiple communication interfaces include at least an analog quantity interface, the integrated sensor is connected to the analog quantity sensor through the analog quantity interface, the sensing information includes the mechanism position of the object picking mechanism, and the control information includes the object picking mechanism control information;

The above-mentioned reception of sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link may include the following steps:

Receive the mechanism position of the pick-up mechanism sent by the integrated sensor, wherein the mechanism position is obtained by detecting the pick-up mechanism by the analog sensor;

The above-mentioned generation of control information for the handling equipment based on the sensing information may include the following steps:

According to the position of the mechanism, control information of the fetching mechanism for the transport equipment is generated, wherein the control information of the fetching mechanism is used to control the retrieval of the fetching mechanism to the original position.

In an optional embodiment of the present invention, the plurality of communication interfaces at least include a digital quantity interface, the integrated sensor is connected to the through-beam sensor through the digital quantity interface, the sensing information includes the handling state information, and the control information includes the motion information of the fetching mechanism;

The above-mentioned reception of sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link may include the following steps:

Receive the handling status information sent by the integrated sensor, where the handling status information is obtained through the detection of the through-beam sensor;

The above-mentioned generation of control information for the handling equipment based on the sensing information may include the following steps:

According to the conveying status information, the motion information of the fetching mechanism for the conveying equipment is generated, wherein the motion information of the fetching mechanism is used to control the motion state of the fetching mechanism.

In an optional embodiment of the present invention, the plurality of communication interfaces at least include a distance measurement information transmission interface, the integrated sensor is connected to the distance measurement sensor through the distance measurement information transmission interface, and the sensing information includes distance data from the target object, control information Including device movement control information;

The above-mentioned reception of sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link may include the following steps:

Receive the distance data sent by the integrated sensor, where the distance data is obtained by measuring the target object by the ranging sensor;

The above-mentioned generation of control information for the handling equipment based on the sensing information may include the following steps:

According to the distance data, equipment movement control information for the transport equipment is generated, wherein the equipment movement control information is used to guide the movement of the transport equipment.

In an optional embodiment of the present invention, the handling equipment further includes equipment steering gear, and correspondingly, the multiple communication interfaces also include steering gear connection interfaces;

The above-mentioned sending of control information to the integrated sensor through the communication link to control the movement of the handling equipment may include the following steps:

The control information is sent to the integrated sensor through the communication link, so that the integrated sensor sends the control information to the equipment steering gear through the steering gear connection interface. Correspondingly, the equipment steering gear performs motion control on the handling equipment based on the control information.

In an optional embodiment of the present invention, receiving the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link may include the following steps:

The sensing information in the target format sent by the integrated sensor is received, wherein the sensing information in the target format is obtained by format conversion of the sensing information by the integrated sensor, and the target format is used to identify the communication interface corresponding to the sensing information.

In an optional embodiment of the present invention, the above-mentioned generation of equipment movement control information for the handling equipment according to the distance data may include the following steps:

Comparing the distance data to a preset distance threshold;

If there is data less than or equal to a preset distance threshold in the distance data, determine that the target object is the first obstacle of the handling equipment;

Obtain the current location information of the handling equipment and the object location information of the target object;

According to the current position information and the object position information, generate equipment movement control information for the handling equipment.

In an optional embodiment of the present invention, after the distance data is compared with the preset distance threshold, the following steps may also be included:

If there is data less than or equal to the preset distance threshold in the distance data, obstacle prompting information is generated, wherein the obstacle prompting information is used to prompt that the target object is an obstacle of the transport equipment.

In an optional embodiment of the present invention, the above-mentioned generation of equipment movement control information for the handling equipment according to the distance data may include the following steps:

Obtain the current location information of the handling equipment;

According to the current position information and the object position information, generate equipment movement control information for the handling equipment, wherein the object position information is the distance data compared with the preset distance threshold by the integrated sensor, and there is data less than or equal to the preset distance threshold in the distance data sent under the circumstances.

It should be noted that the specific implementation manners of step 402, step 404, and step 406 are the same as those of the above-mentioned embodiment of the handling equipment shown in FIG. 2 , and will not be repeated in this embodiment of the present invention.

By applying the solutions of the embodiments of the present invention, since the number of communication links is smaller than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, making the handling equipment more flexible and convenient, and the integrated sensor integrates multiple communication interfaces to realize In order to collect, forward and process a variety of communication information, the integrated sensor can realize a variety of communication functions, improving the flexibility and handling efficiency of the handling equipment. Receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link; generate control information for the handling equipment according to the sensing information; send the control information to the integrated sensor through the communication link to control the movement of the handling equipment , which further improves the efficiency and accuracy of the motion control of the handling equipment.

Referring to Fig. 5a, Fig. 5a shows a schematic diagram of an installation position of an integrated sensor in a handling device according to an embodiment of the present invention. As shown in Figure 5a, in the obstacle avoidance scene of the object retrieval mechanism, the integrated sensor is installed on the front side of the object retrieval mechanism, and is connected with the steering gear, TOF detection module and the through-beam sensor through a communication link, and the TOF detection module can send TOF Sensor beam for object detection.

It should be noted that, in addition to installing the integrated sensor on the front side of the object retrieval mechanism, the integrated sensor can be installed at other positions, which can be selected according to actual conditions, which is not limited in this embodiment of the present invention.

Referring to Fig. 5b, Fig. 5b shows a system architecture diagram of a transport system provided by an embodiment of the present invention. As shown in Figure 5b, there is a processor in the integrated sensor, and each module corresponds to a different processor interface in the integrated sensor. After the robot control system sends the information to the integrated sensor, the integrated sensor can pack all the information in the integrated sensor and send it to the robot control system through the communication bus. The integrated sensor can also distribute the information sent by the robot control system to different interfaces, so as to realize the functions of robot distance detection, signal collection, signal transfer and long-distance transmission. In the embodiment of the present invention, the interface is such as analog quantity interface, TOF photoelectricity, CAN communication, RS485 communication and RS232 communication interface, external signal collection interface, wherein, TOF photoelectric interface is used for distance detection, and external signal collection interface is used for signal collection, CAN communication, RS485 communication and RS232 communication interfaces are used for signal transfer and long-distance transmission.

In an optional embodiment of the present invention, the analog sensor can be connected to the integrated sensor through the analog interface, the steering gear can be connected to the integrated sensor through the RS485 interface, and the through-beam sensor can be connected to the integrated sensor through the digital interface. It should be noted that the connection interface between each module and the integrated sensor is selected according to the actual situation, which is not limited in this embodiment of the present invention. As shown in FIG. 5b, double arrows represent sending and receiving, and single arrows represent sending directions. The steering gear module, TOF photoelectric, and internal storage modules need to integrate the processor inside the sensor to distribute information.

By applying the solutions of the embodiments of the present invention, problems such as high design cost of the handling system, complicated wiring, and detection errors can be optimized. At the same time, the integrated sensor can forward the information of other actuators and sensors to the control system. Since integrated sensors can be obtained through semi-finished modules and controllers, the cost of use can be greatly reduced.

Corresponding to the above method embodiment, the present invention also provides an embodiment of a motion control device for a handling device. FIG. 6 shows a schematic structural diagram of a motion control device for a handling device provided by an embodiment of the present invention. As shown in Figure 6, the device is applied to the control unit in the handling equipment, the main body of the handling equipment, the control unit and the integrated sensor. communicating via communication links, wherein the number of communication links is less than the number of communication interfaces; the apparatus comprising:

The receiving module 602 is configured to receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link;

The generating module 604 is configured to generate control information for the handling equipment according to the sensing information;

The sending module 606 is configured to send the control information to the integrated sensor through the communication link, so as to control the movement of the handling equipment.

Optionally, the plurality of communication interfaces includes at least an analog interface, the integrated sensor is connected to the analog sensor through the analog interface, the sensing information includes the mechanism position of the fetching mechanism, and the control information includes control information of the fetching mechanism; the receiving module 602, It is further configured to receive the mechanism position of the pick-up mechanism sent by the integrated sensor, wherein the mechanism position is obtained by detecting the pick-up mechanism by the analog sensor; the generation module 604 is further configured to generate the pick-up for the handling equipment according to the mechanism position Mechanism control information, wherein the fetching mechanism control information is used to control the fetching mechanism to return to the original position.

Optionally, the multiple communication interfaces include at least a digital quantity interface, the integrated sensor is connected to the through-beam sensor through the digital quantity interface, the sensing information includes the handling status information, and the control information includes the motion information of the fetching mechanism; the receiving module 602 is further configured In order to receive the conveying state information sent by the integrated sensor, wherein the conveying state information is obtained through the detection of the through-beam sensor; the generation module 604 is further configured to generate motion information of the fetching mechanism for the conveying equipment according to the conveying state information, wherein the fetching Mechanism motion information is used to control the motion state of the fetching mechanism.

Optionally, the multiple communication interfaces include at least a distance measurement information transmission interface, the integrated sensor is connected to the distance measurement sensor through the distance measurement information transmission interface, the sensing information includes distance data from the target object, and the control information includes device movement control information; receiving Module 602 is further configured to receive distance data sent by the integrated sensor, wherein the distance data is obtained by measuring the target object by the distance measuring sensor; generation module 604 is further configured to generate equipment movement control information for the handling equipment according to the distance data , wherein the equipment movement control information is used to guide the movement of the handling equipment.

Optionally, the handling equipment also includes equipment steering gear, and correspondingly, the multiple communication interfaces also include steering gear connection interfaces; the sending module 606 is further configured to send control information to the integrated sensor through a communication link, so that the integrated The sensor sends the control information to the equipment steering gear through the steering gear connection interface, and accordingly, the equipment steering gear performs motion control on the handling equipment based on the control information.

Optionally, the receiving module 602 is further configured to receive the sensing information in the target format sent by the integrated sensor, where the sensing information in the target format is obtained by converting the sensing information to the integrated sensor, and the target format is used to identify the Communication interface corresponding to sense information.

Optionally, the generating module 604 is further configured to compare the distance data with a preset distance threshold; if there is data less than or equal to the preset distance threshold in the distance data, determine that the target object is the first obstacle of the handling equipment objects; obtain the current location information of the handling equipment and the object location information of the target object; generate equipment movement control information for the handling equipment according to the current location information and the object location information.

Optionally, the generation module 604 is further configured to generate obstacle prompt information in the case that there is data less than or equal to a preset distance threshold in the distance data, wherein the obstacle prompt information is used to prompt that the target object is an obstacle of the transport equipment .

Optionally, the generation module 604 is further configured to acquire the current location information of the handling equipment; generate equipment movement control information for the handling equipment according to the current location information and object location information, wherein the object location information is distance data compared with integrated sensors With the preset distance threshold, it is sent when there is data less than or equal to the preset distance threshold in the distance data.

By applying the solutions of the embodiments of the present invention, since the number of communication links is smaller than the number of communication interfaces, the number of communication links connected to the handling equipment is reduced, making the handling equipment more flexible and convenient, and the integrated sensor integrates multiple communication interfaces to realize In order to collect, forward and process a variety of communication information, the integrated sensor can realize a variety of communication functions, improving the flexibility and handling efficiency of the handling equipment. Receive the sensing information obtained by the integrated sensor through multiple communication interfaces through the communication link; generate control information for the handling equipment according to the sensing information; send the control information to the integrated sensor through the communication link to control the movement of the handling equipment , which further improves the efficiency and accuracy of the motion control of the handling equipment.

The foregoing is a schematic solution of a motion control device for a handling device in this embodiment. It should be noted that the technical solution of the motion control device of the handling equipment and the technical solution of the above-mentioned motion control method of the handling equipment belong to the same concept. A description of the technical solution of the motion control method for the above-mentioned handling equipment.

An embodiment of the present invention also provides a computer-readable storage medium, which stores computer instructions, and when the instructions are executed by a processor, they are used for:

Through the communication link, receive the sensing information obtained by the integrated sensor through multiple communication interfaces;

Generate control information for handling equipment based on sensing information;

Through the communication link, control information is sent to the integrated sensor to control the movement of the handling equipment.

The foregoing is a schematic solution of a computer-readable storage medium in this embodiment. It should be noted that the technical solution of the storage medium and the technical solution of the above-mentioned motion control method for the handling equipment belong to the same idea, and details not described in detail in the technical solution of the storage medium can be referred to in the above-mentioned motion control method for the handling equipment. Description of the technical solution.

The foregoing describes specific embodiments of the present invention. Other implementations are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. Multitasking and parallel processing are also possible or may be advantageous in certain embodiments.

The computer instructions include computer program code, which may be in source code form, object code form, executable file or some intermediate form or the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-OnlyMemory), Random access memory (RAM, RandomAccessMemory), electric carrier signal, telecommunication signal and software distribution medium, etc.

It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are expressed as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence. Because of the present invention, certain steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the invention are all preferred embodiments, and the actions and modules involved are not necessarily required by the invention.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts not described in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

The preferred embodiments of the invention disclosed above are only to help illustrate the invention. Alternative embodiments are not exhaustive in all detail, nor are the inventions limited to specific implementations described. Obviously, many modifications and variations can be made according to the teachings of the present invention. The present invention selects and specifically describes these embodiments in order to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention. The invention is to be limited only by the claims, along with their full scope and equivalents.

Claims (12)

1. A handling device, characterized in that, the handling device comprises a device main body, a control unit and an integrated sensor; The integrated sensor includes a plurality of communication interfaces, which are arranged on the pick-up mechanism of the main body of the device, and communicate with the control unit through a communication link, wherein the number of the communication links is less than the number of the communication interfaces ; The control unit is configured to receive sensing information obtained by the integrated sensor through the plurality of communication interfaces through the communication link; generate control information for the handling device according to the sensing information; The control information is sent to the integrated sensor via the communication link to control the movement of the handling device. 2. The handling device according to claim 1, wherein the plurality of communication interfaces at least include an analog quantity interface, the integrated sensor is connected to an analog quantity sensor through the analog quantity interface, and the sensing information includes The mechanism position of the fetching mechanism, the control information includes the control information of the fetching mechanism; The integrated sensor is configured to receive, through the analog interface, the position of the mechanism detected by the analog sensor for the fetching mechanism; and send the position of the mechanism to the control unit; The control unit is further configured to generate object fetching mechanism control information for the handling device according to the mechanism position, wherein the object fetching mechanism control information is used to control the object fetching mechanism to return to an original position. 3. The handling device according to claim 1, wherein the plurality of communication interfaces at least include a digital interface, the integrated sensor is connected to the through-beam sensor through the digital interface, and the sensing information includes Transport status information, the control information includes motion information of the fetching mechanism; The integrated sensor is configured to receive the conveying state information sent by the through-beam sensor through the digital interface; send the conveying state information to the control unit; The control unit is further configured to generate motion information of the object fetching mechanism for the conveying device according to the conveying state information, wherein the motion information of the object fetching mechanism is used to control the motion state of the object fetching mechanism. 4. The handling device according to claim 1, wherein the plurality of communication interfaces at least include a distance measurement information transmission interface, and the integrated sensor is connected to a distance measurement sensor through the distance measurement information transmission interface, and the The sensing information includes distance data from the target object, and the control information includes equipment movement control information; The integrated sensor is configured to receive distance data measured by the distance measuring sensor on the target object through the distance measurement information transmission interface; and send the distance data to the control unit; The control unit is further configured to generate equipment movement control information for the transport equipment according to the distance data, wherein the equipment movement control information is used to guide the movement of the transport equipment. 5. The handling equipment according to any one of claims 1-4, characterized in that, the handling equipment further includes equipment steering gear, and correspondingly, the plurality of communication interfaces further includes steering gear connection interfaces; The integrated sensor is further configured to send the control information to the equipment steering gear through the steering gear connection interface, so that the equipment steering gear performs motion control on the handling equipment based on the control information. 6. The handling device according to any one of claims 2-4, wherein the integrated sensor is further configured to perform format conversion on the sensing information to obtain sensing information in a target format; The sensing information in a target format is sent to the control unit, wherein the target format is used to identify a communication interface corresponding to the sensing information. 7. The handling device according to claim 4, wherein the control unit is further configured to compare the distance data with a preset distance threshold; In the case of setting the distance threshold data, determine that the target object is the first obstacle of the transport equipment; obtain the current position information of the transport equipment and the object position information of the target object; according to the current position information and the object position information to generate equipment movement control information for the transport equipment. 8. The handling device according to claim 7, wherein the control unit is further configured to generate obstacle prompt information when there is data less than or equal to the preset distance threshold in the distance data , wherein the obstacle prompt information is used to prompt that the target object is an obstacle of the transport equipment. 9. The handling device according to claim 4, wherein the integrated sensor is further configured to compare the distance data with a preset distance threshold; In the case of setting the data of the distance threshold, determine that the target object is a second obstacle of the handling equipment; send the object position information of the target object to the control unit; The control unit is further configured to acquire current position information of the transport equipment; and generate equipment movement control information for the transport equipment according to the current position information and the object position information. 10. A motion control method for handling equipment, characterized in that it is applied to the control unit in the handling equipment, the main body of the handling equipment, the control unit and the integrated sensor, and the integrated sensor includes a plurality of communication interfaces. On the fetching mechanism of the device main body, and communicate with the control unit through a communication link, wherein the number of the communication links is less than the number of the communication interfaces; the method includes: receiving sensing information obtained by the integrated sensor through the plurality of communication interfaces through the communication link; generating control information for the handling equipment according to the sensing information; The control information is sent to the integrated sensor via the communication link to control the movement of the handling device. 11. A motion control device for handling equipment, characterized in that it is applied to the control unit in the handling equipment, the main body of the handling equipment, the control unit and the integrated sensor, and the integrated sensor includes a plurality of communication interfaces. On the fetching mechanism of the main body of the device, and communicate with the control unit through a communication link, wherein the number of the communication links is less than the number of the communication interfaces; the device includes: The receiving module is configured to receive the sensing information obtained by the integrated sensor through the plurality of communication interfaces through the communication link; A generation module configured to generate control information for the handling device according to the sensing information; The sending module is configured to send the control information to the integrated sensor through the communication link, so as to control the movement of the handling equipment. 12. A computer-readable storage medium, which stores computer instructions, and when the instructions are executed by a processor, the steps of the motion control method of the handling equipment according to claim 10 are realized.

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