CN116573325B - Intelligent storage grabbing robot, intelligent storage application method and warehouse management system - Google Patents
Intelligent storage grabbing robot, intelligent storage application method and warehouse management system Download PDFInfo
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- CN116573325B CN116573325B CN202310712501.1A CN202310712501A CN116573325B CN 116573325 B CN116573325 B CN 116573325B CN 202310712501 A CN202310712501 A CN 202310712501A CN 116573325 B CN116573325 B CN 116573325B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000005299 abrasion Methods 0.000 claims abstract description 34
- 238000012163 sequencing technique Methods 0.000 claims description 14
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000007726 management method Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 3
- 208000035874 Excoriation Diseases 0.000 description 27
- 238000010586 diagram Methods 0.000 description 11
- 238000004590 computer program Methods 0.000 description 7
- 238000005192 partition Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000004422 calculation algorithm Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
Abstract
The invention discloses an intelligent storage grabbing robot, an intelligent storage application method and a warehouse management system. The intelligent warehousing application method comprises the following steps: the main grabbing robot acquires a storage topological graph related to intelligent storage; the main grabbing robot acquires a cargo basic information statistical table and plans a proper storage area table for the cargo to be stored in the intelligent storage; and the main grabbing robot stores the goods to be stored in the intelligent storage into the corresponding area in the intelligent storage according to the storage area table. According to the invention, by adjusting the storage area suitable for goods for multiple times, a storage area scheme which has the minimum abrasion value on the mechanical arm and is convenient for sorting and storing is found, the effects of improving the maintenance cost and improving the storing and taking efficiency are achieved, and the problem that the mechanical arm of the robot faces more serious abrasion when the goods at a high place are taken out due to the fact that the storage area of the goods on the goods shelf is not reasonably arranged in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of intelligent storage, in particular to an intelligent storage grabbing robot, an intelligent storage application method and a warehouse management system.
Background
Along with the continuous improvement of the technology level, a more intelligent and convenient warehouse system has become a new trend of managing warehouses of large factories and logistics companies. Along with the increasing application of robots to intelligent storage systems, a lot of high-tech enterprises are developing unmanned intelligent storage systems based on robots, and the technology of storage robots has been developed and improved to a certain extent, and at present, the storage robots can automatically sort or carry goods according to electronic tags or two-dimension code tags, so that basic unmanned storage can be realized to a certain extent. The intelligent operation system is adopted by the warehousing grabbing robot, automatic extraction and storage of goods are realized through system instructions, meanwhile, the robot can run continuously for 24 hours, manual management and operation are replaced, the warehousing efficiency is improved, and the robot is widely applied and favored.
In the prior art, in the transfer storage process of goods, automatic classification and placement are carried out on the goods by using a robot, so that when the future goods are transported, the goods are positioned and fetched by using the robot, and related goods are positioned, searched and acquired rapidly, so that the transfer efficiency between storage and transportation is improved, and the logistics transportation speed is improved.
For example, publication No.: the invention patent of CN113264302A discloses a control method and device of a warehousing robot, the robot and a warehousing system, and the control method comprises the following steps: acquiring a container scheduling instruction of a first target container, wherein the container scheduling instruction comprises a container type of the first target container; determining a container gesture recognition algorithm according to the container type of the first target container, and recognizing gesture information of the first target container based on the container gesture recognition algorithm; according to the gesture information, the storage robot is controlled to extract the first target container, corresponding gesture recognition algorithms are adopted to determine gesture information of different types of containers, and automatic extraction of different types of containers is performed based on the gesture information, so that the application range and the efficiency of automatic goods taking of the storage robot are improved.
For example, publication No.: the invention patent of CN108820664B discloses an intelligent warehousing system based on a cluster warehousing robot, which comprises: the system comprises a cluster storage robot, a goods storage area, a robot passing area and a goods discharging area; the goods storage area is used for storing goods and throwing the goods to the cluster storage robots, the robot passing area is used for guiding the movement of the cluster storage robots, and the goods discharge area is used for unloading the goods by the cluster storage robots; the cluster storage robot goes to the goods storage area through the robot passing area to carry goods, goes to the goods discharging area through the robot passing area to unload the goods after the goods are loaded in the goods storage area, and then returns to enter the next round of carrying operation.
However, in the process of implementing the technical scheme of the invention in the embodiment of the application, the inventor of the application finds that at least the following technical problems exist in the above technology:
in the prior art, when goods are stored and taken out through the robot, the specific storage area of the goods on the goods shelf is not well arranged, the mechanical arm of the robot is inevitably worn, and the mechanical arm for storing and taking the goods at high positions frequently is worn more than the mechanical arm for storing and taking the goods at low positions frequently. The specific reason is that: when the robot accesses high cargoes, the mechanical arm needs to be lifted to a higher position frequently and operated at a high position, and the lifting and operating processes bring greater load and pressure to the mechanical arm, so that the abrasion risk is increased; in addition, when the robotic arm lifts the cargo from a high position, the robotic arm may need to exert more force to overcome the resistance due to gravity, which also accelerates wear. In contrast, the mechanical arm for storing and taking low cargoes frequently does not need to be lifted to a high position frequently in the storing and taking process, so that the movement amplitude and the load of the mechanical arm are relatively reduced, and the abrasion degree is reduced. In summary, the prior art has the problem that the storage area of the goods on the goods shelf is not reasonably arranged, so that the mechanical arm of the robot faces more serious abrasion when the goods at the height are stored.
Disclosure of Invention
According to the intelligent storage grabbing robot, the intelligent storage application method and the warehouse management system, the problem that the mechanical arm of the robot faces more serious abrasion when the mechanical arm accesses high cargoes due to the fact that the storage area of cargoes on a goods shelf is not reasonably arranged in the prior art is solved, the service life and the reliability of the robot system are improved, the maintenance cost is reduced, and the access efficiency is improved.
The embodiment of the application provides an intelligent storage grabbing robot which comprises a storage module, an identification module, a calculation module and a carrying module; the storage module is used for storing related intelligent storage information and cargo processing related information; the identification module is used for identifying goods shelf information and goods information; the calculation module is used for calculating the storage area of the goods with minimum wear to the mechanical arm according to the goods shelf information and the goods information; the carrying module is used for carrying cargoes to the corresponding storage areas through the control mechanical arm.
The embodiment of the application provides an intelligent storage application method based on an intelligent storage grabbing robot, which comprises the following steps: s1, a main grabbing robot acquires a storage topological graph related to intelligent storage; s2, when the auxiliary grabbing robot performs pre-classification on the goods to be stored in the intelligent warehouse and calculates to obtain a goods basic information statistical table, the main grabbing robot acquires the goods basic information statistical table and plans a proper storage area table for the goods to be stored in the intelligent warehouse; and S3, the main grabbing robot stores the goods to be stored in the intelligent storage into the corresponding area in the intelligent storage according to the storage area table.
Further, the main grabbing robot acquiring the storage topological graph related to the intelligent storage comprises acquiring the existing storage topological graph and further comprises acquiring the storage topological graph related to the intelligent storage by the main grabbing robot; the specific process of automatically acquiring the storage topological graph related to the intelligent storage through the main grabbing robot is as follows: the main grabbing robot recognizes a passable path of the ground and the position of a shelf base through an image recognition technology, and generates a storage area plan; the main grabbing robot stretches the mechanical arm up and down at the position of each goods shelf base, the height of each goods shelf, the interval between every two layering plates, the unavailable gap between every two layering plates, the interval between every two vertical rails, the blocking condition of two ends of each layer and the storable depth of each layer are obtained through a monitoring camera on the mechanical arm, and an actual goods shelf corresponding to the position of each goods shelf base and each storage area practically available on the goods shelf are generated; the main grabbing robot plans the shortest path from the goods temporary shelving point to be stored in the intelligent warehouse to each storage area on the goods shelf to serve as a topology connecting line, takes each storage area as a topology node, and takes the goods temporary shelving point to be stored in the intelligent warehouse as a center node to update the storage topology map related to the intelligent warehouse.
Further, the auxiliary grabbing robot pre-classifies the goods to be stored in the intelligent warehouse and calculates to obtain a basic information statistical table of the goods specifically comprises the following steps: when the goods to be stored in the intelligent storage reach the intelligent storage, the goods to be stored in the intelligent storage are sequentially scanned and weighed through the auxiliary grabbing robot, the type name, size, shape and weight of the goods to be stored in the intelligent storage are obtained, the number and the goods number of each type of goods are counted, and meanwhile the type name, size, shape, weight, number and the goods number are recorded into a goods basic information statistical table.
Further, the planning of the appropriate storage area table for the goods to be stored in the intelligent warehouse specifically includes: calculating an initial storage area scheme for each type of goods according to the goods basic information statistical table; the method comprises the steps of obtaining historical access frequencies of various cargoes, sequencing the cargoes from high to low, sequencing the cargoes according to ranking order of the access frequencies, and adjusting storage areas of the various cargoes for the first time; and calculating the abrasion value of the goods stored in the planned storage area, which causes abrasion to the mechanical arm, based on the result of the first storage area adjustment, and carrying out the second storage area adjustment on various goods.
Further, the specific reference of the calculated initial storage area scheme is as follows: acquiring the category names, sizes, shapes, weights, numbers and cargo numbers in the cargo basic information statistical table; a plurality of classification storage areas are primarily divided according to the type names and the quantity of the cargoes, so that the cargoes with the same type name are stored in a concentrated mode; dividing a plurality of height storage areas in the classification storage areas according to the weight of the goods, and storing the goods in different weight areas under various kinds of names in different height storage areas; and recording the classified storage areas and the height storage areas under each cargo number, and storing the classified storage areas and the height storage areas as an initial storage area scheme.
Further, the first storage area adjustment of various cargoes specifically means: acquiring historical access frequencies of various cargoes; sorting the goods of each category from high to low according to the access frequency, converting the ranking of the access frequency into the weight value of the goods of each category, wherein the conversion specifically refers to counting the total number x of the goods categories participating in sorting, and leading the ranking a of the jth goods category in the total number to be in a front proportion through a calculation formulaConverting into a weight W of the j-th cargo category, wherein e is a natural constant; based on the initial storage area scheme, the classification storage areas of various goods are adjusted according to the weight values, the goods with larger weight values are arranged at lower positions in the storage areas, and the first storage area adjustment of various goods is completed.
Further, the calculated wear value of the goods stored in the planned storage area for the mechanical arm is specifically: setting a standard wear value of the mechanical arm, and acquiring a first storage area adjustment result and arm data of the mechanical arm, wherein the arm data comprises an arm L and an initial momentThe time t required for the mechanical arm to complete the action is estimated; according to the height H of each goods stored in the planned corresponding storage area and the weight m of each goods, calculating the moment required to be used for completing the action of the mechanical arm, and +_ according to the formula>Calculating the average wear value of the mechanical arm for storing each cargo in the corresponding storage area>Wherein g is the gravitational acceleration, m i Is the weight of the ith cargo.
Further, the second storage area adjustment is performed on various cargoes: acquiring storage areas corresponding to all cargoes in the first storage area adjustment result, and determining height intervals corresponding to all the cargo storage areas; calculating a corresponding abrasion value interval according to the height interval and passing through a formulaDetermining the height H at which the respective load should be stored i Wherein K is i,m i n And K i,max Respectively the minimum abrasion value and the maximum abrasion value corresponding to the ith cargo, H max And H min Respectively a maximum value and a minimum value corresponding to the height interval; in the height interval provided by the first storage area adjusting result, for the goods with the same type of names, adjusting according to the abrasion value and the height in the corresponding height storage area, and placing the abrasion value at a lower position in the height interval; according to the same heightThe size and shape of the goods in the storage area plan the optimal placement strategy for the goods.
Embodiments of the present application provide a bin pipe system comprising: the main grabbing robot, the auxiliary grabbing robot and the intelligent warehouse are connected and communicated through a wireless network; the main grabbing robot is used for acquiring a storage topological graph related to intelligent storage, receiving a cargo basic information statistical table, planning a proper storage area table for cargoes to be stored in the intelligent storage, specifically, planning a proper storage area table for the cargoes to be stored in the intelligent storage, namely, according to an initial storage area scheme calculated by the cargo basic information statistical table for each kind of cargoes, acquiring historical access frequency of each kind of cargoes, sequencing the access frequency from high to low, sequencing the access frequency, sequentially sequencing the cargoes according to the ranking of the access frequency, performing first storage area adjustment on each kind of cargoes, calculating a wear value which causes wear for a mechanical arm when the cargoes are stored in the planned storage area based on the result of the first storage area adjustment, and performing second storage area adjustment on each kind of cargoes; the auxiliary grabbing robot is used for pre-classifying the goods to be stored in the intelligent warehouse and counting to obtain a basic information statistical table of the goods; the intelligent warehouse is used for storing goods to be stored in the intelligent warehouse into corresponding areas in the intelligent warehouse according to the storage area table.
One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:
1. the method has the advantages that the abrasion value which is caused by the fact that goods are stored in the planned storage area is calculated, the second storage area adjustment is carried out according to the abrasion value, so that a storage area scheme which is minimum in the abrasion value of the mechanical arm and convenient to sort and store and fetch the goods is found, the moving load of the mechanical arm when the mechanical arm is used for grabbing and placing the goods is reduced, the abrasion and fault rate of the mechanical arm are reduced, the service life and reliability of the mechanical arm are prolonged, the maintenance cost is reduced, the storage efficiency is improved, and the problem that in the prior art, the mechanical arm of a robot faces more serious abrasion when the mechanical arm of the robot accesses goods at a high place due to the fact that the goods are not reasonably arranged in the storage area on the goods shelf is effectively solved.
2. The storage topological diagram related to the intelligent storage is acquired by setting two modes of directly acquiring the existing storage topological diagram or automatically acquiring the storage topological diagram related to the intelligent storage through the main grabbing robot, so that manual intervention can be reduced, the automation degree of a storage system can be improved, and management efficiency is improved, storage layout is optimized, and path planning is improved.
3. Through the size and the shape according to the goods in the same high storage area, can plan out the best strategy of putting for the goods to a plurality of goods in same storage area can be put more closely, have reduced the clearance between the goods, and then have realized improving the goods storage density in warehouse, reduce storage cost.
Drawings
Fig. 1 is a flowchart of an intelligent storage application method based on an intelligent storage grabbing robot provided in an embodiment of the present application;
FIG. 2 is a flowchart of a method for planning a suitable storage area table according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a cartridge tube system according to an embodiment of the present application.
Detailed Description
According to the intelligent storage grabbing robot, the intelligent storage application method and the warehouse management system, the problem that the mechanical arm of the robot faces more serious abrasion when the mechanical arm accesses high cargoes due to the fact that the storage area of cargoes on a goods shelf is not reasonably arranged in the prior art is solved, the storage area scheme which is minimum in mechanical arm abrasion value and convenient to classify and access is found through multiple adjustment of the storage area suitable for cargoes, the service life and the reliability of the robot system are improved, the maintenance cost is reduced, and the access efficiency is improved.
The technical scheme in this application embodiment is for solving above-mentioned, has because there is not the storage area of reasonable arrangement goods on the goods shelves, faces the problem of more serious wearing and tearing when leading to the arm of robot to deposit the eminence goods, and the overall thinking is as follows:
firstly, pre-classifying and counting the goods to be stored in the intelligent warehouse through the auxiliary grabbing robot to obtain a basic information statistical table of the goods; and then the main grabbing robot acquires the storage topological graph related to the intelligent warehouse by directly acquiring the existing storage topological graph or acquiring the storage topological graph related to the intelligent warehouse by the main grabbing robot, acquires the cargo basic information statistical table of the auxiliary grabbing robot, and plans a proper storage area table for the cargoes to be stored in the intelligent warehouse. The planning of the storage area table suitable for the goods to be stored in the intelligent warehouse specifically refers to an initial storage area scheme calculated for each type of goods according to the goods basic information statistical table, historical access frequencies of the goods of each type are obtained and sequenced, the access frequencies are sequenced from high to low, the first storage area adjustment is carried out on each type of goods according to ranking order of the access frequencies, the abrasion value which is worn by the mechanical arm and is caused by the goods stored in the planned storage area is calculated based on the result of the first storage area adjustment, the second storage area adjustment is carried out on each type of goods, and the specific storage position of the goods is determined after the adjustment is carried out for several times, so that the service life and reliability of the robot system are improved, the maintenance cost is reduced, and the access efficiency is improved.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
The embodiment of the application provides an intelligent storage grabbing robot which comprises a storage module, an identification module, a calculation module and a carrying module; the storage module is used for storing related intelligent storage information and cargo processing related information; the identification module is used for identifying goods shelf information and goods information; the calculation module is used for calculating the storage area of the goods with minimum wear to the mechanical arm according to the goods shelf information and the goods information; the carrying module is used for carrying cargoes to the corresponding storage areas through the control mechanical arm.
As shown in fig. 1, a flowchart of an intelligent warehousing application method based on an intelligent warehousing grabbing robot is provided in an embodiment of the present application, and the method is applied to a warehouse management system, and includes the following steps: s1, a main grabbing robot acquires a storage topological graph related to intelligent storage; s2, when the auxiliary grabbing robot performs pre-classification on the goods to be stored in the intelligent warehouse and calculates to obtain a goods basic information statistical table, the main grabbing robot acquires the goods basic information statistical table and plans a proper storage area table for the goods to be stored in the intelligent warehouse; and S3, the main grabbing robot stores the goods to be stored in the intelligent storage into the corresponding area in the intelligent storage according to the storage area table.
Further, the main grabbing robot acquiring the storage topological graph related to the intelligent storage comprises acquiring the existing storage topological graph and further comprises acquiring the storage topological graph related to the intelligent storage by the main grabbing robot; the specific process of automatically acquiring the storage topological graph related to the intelligent warehouse through the main grabbing robot is as follows: the main grabbing robot recognizes a passable path of the ground and the position of a shelf base through an image recognition technology, and generates a storage area plan; the main grabbing robot stretches the mechanical arm up and down at the position of each goods shelf base, the height of each goods shelf, the interval between every two layering plates, the unavailable gap between every two layering plates, the interval between every two vertical rails, the blocking condition of two ends of each layer and the storable depth of each layer are obtained through a monitoring camera on the mechanical arm, and an actual goods shelf corresponding to the position of each goods shelf base and each storage area practically available on the goods shelf are generated; the main grabbing robot plans the shortest path from the goods temporary shelving point to be stored in the intelligent warehouse to each storage area on the goods shelf to serve as a topology connecting line, takes each storage area as a topology node, and takes the goods temporary shelving point to be stored in the intelligent warehouse as a center node to update the storage topology map related to the intelligent warehouse.
In this embodiment, the storage topology needs to include a specific storage area and a central pick node, where the specific storage area is to include a cargo type designation area or designation shelf, a designated height range, a storage area on a designated shelf, and a shortest path. The actual shelf corresponding to the base position of each shelf specifically refers to the actual shelf corresponding to the base position of each shelf when a shelf base position area line is drawn on the ground, the actual base size of each shelf cannot be determined, the spacing between every two partitions, the partition plates, the spacing between every two partition plates (particularly, the spacing between the upper partition plate and the lower partition plate is smaller, the available area of the shelf can be reduced when the spacing is smaller), the unavailable gap between every two partition plates (particularly, the spacing between the side-by-side partition plates is larger, the available area of each layer of the shelf can be reduced when the spacing is larger, the unavailable spacing between the vertical railing and every two vertical railing (the spacing between every two vertical railing comprises the available spacing and the unavailable spacing, and the available spacing is used as an entrance of a storage area) can be determined; meanwhile, each storage area which is actually available on the shelf can be obtained, and the storage area is a small storage area corresponding to each layer of each column on each shelf. The foregoing taking each storage area as a topology node needs to be noted that each storage area is a unique value, that is, each topology node is unique, and a corresponding storage position serial number can be set, so that a specific storage position can be conveniently found subsequently.
Further, the auxiliary grabbing robot pre-classifies the goods to be stored in the intelligent warehouse and calculates to obtain a basic information statistical table of the goods specifically comprises the following steps: when the goods to be stored in the intelligent storage reach the intelligent storage, the goods to be stored in the intelligent storage are sequentially scanned and weighed through the auxiliary grabbing robot, the type name, size, shape and weight of the goods to be stored in the intelligent storage are obtained, the number and the goods number of each type of goods are counted, and meanwhile the type name, size, shape, weight, number and the goods number are recorded into a goods basic information statistical table.
In this embodiment, the category name includes a certain number of cargos, and a certain number of cargos corresponds to a plurality of sizes, shapes and weights respectively, where each cargo corresponds to only one cargo number, so as to facilitate access and later searching.
Further, as shown in fig. 2, a flowchart of a method for planning a suitable storage area table provided in an embodiment of the present application specifically refers to that the suitable storage area table is planned for goods to be stored in the intelligent storage: calculating an initial storage area scheme for each type of goods according to the goods basic information statistical table; the method comprises the steps of obtaining historical access frequencies of various cargoes, sequencing the cargoes from high to low, sequencing the cargoes according to ranking order of the access frequencies, and adjusting storage areas of the various cargoes for the first time; and calculating the abrasion value of the goods stored in the planned storage area, which causes abrasion to the mechanical arm, based on the result of the first storage area adjustment, and carrying out the second storage area adjustment on various goods.
In this embodiment, the initial storage area scheme may be determined according to the layout of each shelf and the characteristics of the goods in the intelligent storage, so as to ensure that the goods can be stored reasonably and meet the operation requirements; and then analyzing the warehouse data in the past period of time to obtain the historical access frequency of each type of goods, if the historical warehouse data is not available, ranking the access frequencies the same, namely the access frequencies are the same, the first storage area adjustment result is the same as the initial storage area scheme, and then carrying out the second storage area adjustment.
Further, the calculated initial storage area scheme specifically refers to: acquiring the category names, sizes, shapes, weights, numbers and cargo numbers in the cargo basic information statistical table; a plurality of classification storage areas are primarily divided according to the type names and the quantity of the cargoes, so that the cargoes with the same type name are stored in a concentrated mode; dividing a plurality of height storage areas in the classification storage areas according to the weight of the goods, and storing the goods in different weight areas under various kinds of names in different height storage areas; and recording the classified storage areas and the height storage areas under each cargo number, and storing the classified storage areas and the height storage areas as an initial storage area scheme.
In this embodiment, the classified storage area is a storage area primarily divided for each kind of cargo on a horizontal plane, the height storage area refers to an increase and decrease of a vertical level of the storage area primarily divided for each kind of cargo on a vertical height, and heavier cargoes are divided into a lower storage area.
Further, the first storage area adjustment of various cargoes specifically means: acquiring historical access frequencies of various cargoes; sorting the goods of each category from high to low according to the access frequency, converting the ranking of the access frequency into the weight value of the goods of each category, specifically counting the total number x of the goods categories participating in sorting, and leading the ranking a of the jth goods category in the total number to be in a proportion by a calculation formulaConverting into a weight W of the j-th cargo category, wherein e is a natural constant; based on the initial storage area scheme, the classification storage areas of various goods are adjusted according to the weight values, the goods with larger weight values are arranged at lower positions in the storage areas, and the first storage area adjustment of various goods is completed.
Further, calculating the wear value that will cause wear to the robotic arm when the cargo is stored in the planned storage area specifically refers to: setting a standard wear value of the mechanical arm, acquiring a first storage area adjustment result and arm data of the mechanical arm, wherein the arm data comprises an arm L and an initial moment M, and predicting the time t required by the mechanical arm to complete the action; according to the height H of each goods stored in the planned corresponding storage area and the weight m of each goods, calculating the moment required to be used for completing the action of the mechanical arm, and passing through a formulaCalculating the average wear value of the mechanical arm for storing each cargo in the corresponding storage area>Wherein,g is the gravitational acceleration, m i Is the weight of the ith cargo.
In this embodiment, the wear value is obtained based on the storage area, and the storage area has a certain height, so that a section of the storage area is formed by an upper boundary and a lower boundary corresponding to the storage area, and if the height difference between the upper boundary and the lower boundary is too large, the wear value corresponding to the position close to the upper boundary will greatly exceed the wear value corresponding to the lower boundary, so that further height confirmation of the cargo is required later.
Further, carrying out secondary storage area adjustment on various cargoes: acquiring storage areas corresponding to all cargoes in the first storage area adjustment result, and determining height intervals corresponding to all the cargo storage areas; calculating a corresponding abrasion value interval according to the height interval and passing through a formulaDetermining the height H at which the respective load should be stored i Wherein K is i,min And K i,max Respectively the minimum abrasion value and the maximum abrasion value corresponding to the ith cargo, H max And H min Respectively a maximum value and a minimum value corresponding to the height interval; in the height interval provided by the first storage area adjusting result, for the goods with the same type of names, adjusting according to the abrasion value and the height in the corresponding height storage area, and placing the abrasion value at a lower position in the height interval; and planning an optimal placement strategy for the goods according to the size and the shape of the goods in the same height storage area.
In this embodiment, after determining the height of each cargo, information of a plurality of cargoes in the same storage area may be obtained, and an optimal placement strategy may be planned according to the sizes and shapes of the plurality of cargoes in the storage area, so that placement is tighter.
As shown in fig. 3, a schematic structural diagram of a bin pipe system according to an embodiment of the present application includes: the main grabbing robot, the auxiliary grabbing robot and the intelligent warehouse are connected and communicated through a wireless network; the main grabbing robot is used for acquiring a storage topological graph related to intelligent storage, receiving a cargo basic information statistical table, planning a proper storage area table for the cargoes to be stored in the intelligent storage, specifically, acquiring historical access frequencies of the cargoes of all kinds and sequencing the cargoes according to an initial storage area scheme calculated by the cargo basic information statistical table for the cargoes of all kinds, sequencing the access frequencies from high to low, performing first storage area adjustment on the cargoes according to the ranking order of the access frequencies, calculating a wear value which causes wear to a mechanical arm when the cargoes are stored in the planned storage area based on the result of the first storage area adjustment, and performing second storage area adjustment on the cargoes; the auxiliary grabbing robot is used for pre-classifying the goods to be stored in the intelligent warehouse and counting to obtain a basic information statistical table of the goods; the intelligent warehouse is used for storing goods to be stored in the intelligent warehouse into corresponding areas in the intelligent warehouse according to the storage area table.
The technical scheme in the embodiment of the application at least has the following technical effects or advantages: the storage area suitable for goods is adjusted for multiple times, so that a storage area scheme which has the minimum abrasion value to the mechanical arm and is convenient to classify and store and fetch is found, the service life and reliability of the robot system are further improved, the maintenance cost is reduced, and the storage and fetch efficiency is improved.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. An intelligent storage application method based on an intelligent storage grabbing robot is characterized by comprising the following steps:
s1, a main grabbing robot acquires a storage topological graph related to intelligent storage;
s2, when the auxiliary grabbing robot performs pre-classification on the goods to be stored in the intelligent warehouse and calculates to obtain a goods basic information statistical table, the main grabbing robot acquires the goods basic information statistical table and plans a proper storage area table for the goods to be stored in the intelligent warehouse;
s3, the main grabbing robot stores goods to be stored in the intelligent storage into corresponding areas in the intelligent storage according to the storage area table;
the auxiliary grabbing robot pre-classifies the goods to be stored in the intelligent warehouse and calculates to obtain a basic information statistical table of the goods specifically comprises the following steps: when the goods to be stored in the intelligent storage reach the intelligent storage, the goods to be stored in the intelligent storage are sequentially scanned and weighed through the auxiliary grabbing robot, the type name, the size, the shape and the weight of the goods to be stored in the intelligent storage are obtained, the number and the goods number of each type of goods are counted, and meanwhile the type name, the size, the shape, the weight, the number and the goods number are recorded into a goods basic information statistical table;
the method for planning the proper storage area table for the goods to be stored in the intelligent warehouse specifically comprises the following steps:
calculating an initial storage area scheme for each type of goods according to the goods basic information statistical table;
the method comprises the steps of obtaining historical access frequencies of various cargoes, sequencing the cargoes from high to low, sequencing the cargoes according to ranking order of the access frequencies, and adjusting storage areas of the various cargoes for the first time;
calculating a wear value of the mechanical arm when the goods are stored in the planned storage area based on the result of the first storage area adjustment, and carrying out the second storage area adjustment on various goods;
the first storage area adjustment of various cargoes specifically comprises the following steps:
acquiring historical access frequencies of various cargoes;
sorting the goods of each category from high to low according to the access frequency, converting the ranking of the access frequency into the weight value of the goods of each category, wherein the conversion specifically refers to counting the total number x of the goods categories participating in sorting, and leading the ranking a of the jth goods category in the total number to be in a front proportion through a calculation formulaConverting into a weight W of the j-th cargo category, wherein e is a natural constant;
on the basis of an initial storage area scheme, the classification storage areas of various goods are adjusted according to the weight values, the goods with larger weight values are arranged at lower positions in the storage areas, and the first storage area adjustment of various goods is completed;
the calculated wear value of the goods stored in the planned storage area for the mechanical arm is specifically:
setting a standard wear value of the mechanical arm, and acquiring a first storage area adjustment result and arm data of the mechanical arm, wherein the arm data comprises an arm L and an initial momentThe time t required for the mechanical arm to complete the action is estimated;
according to the height H of each goods stored in the planned corresponding storage area and the weight m of each goods, calculating the moment required to be used for completing the action of the mechanical arm, and passing through a formulaCalculating the mechanical armAverage wear value for each goods stored in the corresponding storage area +.>Wherein g is the gravitational acceleration, m i Is the weight of the ith cargo;
and carrying out secondary storage area adjustment on various cargoes:
acquiring storage areas corresponding to all cargoes in the first storage area adjustment result, and determining height intervals corresponding to all the cargo storage areas;
calculating a corresponding abrasion value interval according to the height interval and passing through a formulaDetermining the height H at which the respective load should be stored i Wherein K is i,m i n And K i,max Respectively the minimum abrasion value and the maximum abrasion value corresponding to the ith cargo, H max And H min Respectively a maximum value and a minimum value corresponding to the height interval;
in the height interval provided by the first storage area adjusting result, for the goods with the same type of names, adjusting according to the abrasion value and the height in the corresponding height storage area, and placing the abrasion value at a lower position in the height interval;
and planning an optimal placement strategy for the goods according to the size and the shape of the goods in the same height storage area.
2. The smart warehousing application method of claim 1, wherein: the method comprises the steps that a main grabbing robot acquires a storage topological graph related to intelligent storage, wherein the acquisition of the storage topological graph related to intelligent storage comprises the acquisition of the existing storage topological graph, and the self acquisition of the storage topological graph related to intelligent storage through the main grabbing robot;
the specific process of automatically acquiring the storage topological graph related to the intelligent storage through the main grabbing robot is as follows:
the main grabbing robot recognizes a passable path of the ground and the position of a shelf base through an image recognition technology, and generates a storage area plan;
the main grabbing robot stretches the mechanical arm up and down at the position of each goods shelf base, the height of each goods shelf, the interval between every two layering plates, the unavailable gap between every two layering plates, the interval between every two vertical rails, the blocking condition of two ends of each layer and the storable depth of each layer are obtained through a monitoring camera on the mechanical arm, and an actual goods shelf corresponding to the position of each goods shelf base and each storage area practically available on the goods shelf are generated;
the main grabbing robot plans the shortest path from the goods temporary shelving point to be stored in the intelligent warehouse to each storage area on the goods shelf to serve as a topology connecting line, takes each storage area as a topology node, and takes the goods temporary shelving point to be stored in the intelligent warehouse as a center node to update the storage topology map related to the intelligent warehouse.
3. The intelligent warehousing application method of claim 2 wherein the calculated initial storage area scheme specifically refers to:
acquiring the category names, sizes, shapes, weights, numbers and cargo numbers in the cargo basic information statistical table;
a plurality of classification storage areas are primarily divided according to the type names and the quantity of the cargoes, so that the cargoes with the same type name are stored in a concentrated mode;
dividing a plurality of height storage areas in the classification storage areas according to the weight of the goods, and storing the goods in different weight areas under various kinds of names in different height storage areas;
and recording the classified storage areas and the height storage areas under each cargo number, and storing the classified storage areas and the height storage areas as an initial storage area scheme.
4. An intelligent warehousing grabbing robot, which is characterized by being used for executing the intelligent warehousing application method of any one of claims 1-3, and comprising a storage module, an identification module, a calculation module and a carrying module;
the storage module is used for storing related intelligent storage information and cargo processing related information;
the identification module is used for identifying goods shelf information and goods information;
the calculation module is used for calculating the storage area of the goods with minimum wear to the mechanical arm according to the goods shelf information and the goods information;
the carrying module is used for carrying cargoes to the corresponding storage areas through the control mechanical arm.
5. A bin management system for performing the intelligent warehousing application method of any one of claims 1-3, the bin management system comprising: the main grabbing robot, the auxiliary grabbing robot and the intelligent warehouse are connected and communicated through a wireless network;
the main grabbing robot is used for acquiring a storage topological graph related to intelligent storage, receiving a cargo basic information statistical table, planning a proper storage area table for cargoes to be stored in the intelligent storage, specifically, planning a proper storage area table for the cargoes to be stored in the intelligent storage, namely, according to an initial storage area scheme calculated by the cargo basic information statistical table for each kind of cargoes, acquiring historical access frequency of each kind of cargoes, sequencing the access frequency from high to low, sequencing the access frequency, sequentially sequencing the cargoes according to the ranking of the access frequency, performing first storage area adjustment on each kind of cargoes, calculating a wear value which causes wear for a mechanical arm when the cargoes are stored in the planned storage area based on the result of the first storage area adjustment, and performing second storage area adjustment on each kind of cargoes;
the auxiliary grabbing robot is used for pre-classifying the goods to be stored in the intelligent warehouse and counting to obtain a basic information statistical table of the goods;
the intelligent warehouse is used for storing goods to be stored in the intelligent warehouse into corresponding areas in the intelligent warehouse according to the storage area table.
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