CN116573573A

CN116573573A - Equipment detection method and device

Info

Publication number: CN116573573A
Application number: CN202310402852.2A
Authority: CN
Inventors: 马千里
Original assignee: Beijing Jizhijia Technology Co Ltd
Current assignee: Beijing Jizhijia Technology Co Ltd
Priority date: 2023-04-14
Filing date: 2023-04-14
Publication date: 2023-08-11

Abstract

The application provides a device detection method, which comprises the following steps: receiving an operation instruction for a fork holding mechanism in container handling equipment; responding to the operation instruction, and controlling the fork holding mechanism to execute the operation corresponding to the operation instruction; acquiring information to be detected for detecting whether the container handling equipment is abnormal; and stopping the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information. The information to be detected for detecting whether the container handling equipment is abnormal or not is obtained in the process of executing the operation instruction corresponding operation by the fork holding mechanism, whether the container handling equipment is abnormal or not can be monitored in real time in the operation process of the fork holding mechanism, corresponding measures are timely taken when the abnormal condition of the container handling equipment is detected, and therefore automatic detection on whether the container handling equipment is possible to topple or not is achieved, the container handling equipment is timely and effectively prevented from toppling, and stable operation of the container handling equipment is guaranteed.

Description

Equipment detection method and device

Technical Field

The application relates to the field of artificial intelligence, in particular to a device detection method. The application also relates to a device detection apparatus, a computing device, and a computer-readable storage medium.

Background

In the application scene of the bin robot, since the shelf is a two-dimensional space with height and depth, the bin robot needs to perform depth movement at a certain height when picking and placing bins on the shelf. When the robot performs high and deep motions, certain possible anomalies exist, which can lead to the robot receiving forward tilting or backward tilting forces and bring about tilting risks to the robot.

At present, the stability of a robot body is improved by adding a supporting arm or a shockproof device to the robot, so that the robot is prevented from toppling over. However, under the dense storage scene, the height of the goods shelf is very high, and under the conditions that the robot body is longer and the gravity center is higher, the anti-toppling mode cannot better avoid the robot stress from toppling. Therefore, an automatic detection method is needed to prevent the robot from being stressed to topple over in time under the condition that the robot is possible to topple over.

Disclosure of Invention

In view of this, the embodiment of the application provides a device detection method. The application also relates to a device detection device, a computing device 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 application, there is provided an apparatus detection method applied to a container handling apparatus, the method including:

receiving an operation instruction for a fork holding mechanism in container handling equipment;

responding to the operation instruction, and controlling the fork holding mechanism to execute the operation corresponding to the operation instruction;

acquiring information to be detected for detecting whether the container handling equipment is abnormal, wherein the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism;

and stopping the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information, wherein the abnormal information comprises information for causing the container carrying equipment to topple.

According to a second aspect of embodiments of the present application, there is provided an apparatus detection device for use in a container handling apparatus, the device comprising:

a receiving module configured to receive an operation instruction for a fork-holding mechanism in a container handling apparatus;

the first execution module is configured to respond to the operation instruction and control the fork holding mechanism to execute the operation corresponding to the operation instruction;

the device comprises an acquisition module, a detection module and a control module, wherein the acquisition module is configured to acquire information to be detected for detecting whether the container handling equipment is abnormal, wherein the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism;

The second execution module is configured to stop the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information, wherein the abnormal information comprises information for causing the container carrying equipment to topple.

According to a third aspect of embodiments of the present application, there is provided a computing device comprising: a memory and a processor;

the memory is configured to store computer executable instructions, and the processor is configured to execute the computer executable instructions, where the computer executable instructions when executed by the processor implement the device detection method provided in the first aspect of the embodiment of the present application.

According to a fourth aspect of embodiments of the present application, there is provided a computer-readable storage medium storing computer instructions which, when executed by a processor, implement the device detection method provided by the first aspect of embodiments of the present application.

The equipment detection method provided by the application is used for receiving an operation instruction aiming at a fork holding mechanism in container carrying equipment; responding to the operation instruction, and controlling the fork holding mechanism to execute the operation corresponding to the operation instruction; acquiring information to be detected for detecting whether the container handling equipment is abnormal, wherein the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism; under the condition that abnormal information exists in the information to be detected, stopping the fork holding mechanism to execute the operation corresponding to the operation instruction, wherein the abnormal information comprises information for causing the container handling equipment to topple, and acquiring equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism in the process of executing the operation instruction corresponding to the operation instruction by the fork holding mechanism, so that whether the container handling equipment has the possibility of toppling or not can be monitored in real time in the operation process of the fork holding mechanism, and corresponding measures can be timely taken under the condition that the container handling equipment is detected to have the possibility of toppling or not, thereby realizing automatic detection on whether the container handling equipment has the possibility of toppling or not, timely and effectively avoiding the occurrence of toppling of the container handling equipment, and guaranteeing the stable operation of the container handling equipment.

Drawings

FIG. 1 is a flow chart of a device detection method according to an embodiment of the present application;

FIG. 2 is a process flow diagram of a method for detecting equipment in the process of performing telescopic movement by a fork mechanism according to an embodiment of the present application;

FIG. 3 is a process flow diagram of a method for detecting equipment in a process of lifting a fork mechanism according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of a device detection apparatus according to an embodiment of the present application;

FIG. 5 is a block diagram of a computing device according to one embodiment of the application.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The present application may be embodied in many other forms than those herein described, and those skilled in the art will readily appreciate that the present application may be similarly embodied without departing from the spirit or essential characteristics thereof, and therefore the present application is not limited to the specific embodiments disclosed below.

The terminology used in the one or more embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the application. As used in one or more embodiments of the application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present application refers to and encompasses any or 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 in one or more embodiments of the application to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

First, terms related to one or more embodiments of the present application will be explained.

A container: also commonly referred to as a bin or a container, is a solid body that holds goods/materials, including plastic bins, cartons, plastic baskets, and the like.

Container handling apparatus: and equipment for taking, placing and transporting the container.

The fork holding mechanism: it is understood that a telescopic fork mechanism can be moved in both height and depth dimensions to remove a container from a shelf or to transport a container to a storage location on a shelf by holding or clamping the container.

Three-axis gyroscope: the motion state of the object can be judged by measuring the angular velocities in 6 directions simultaneously by the three axes of x, y and z.

Cargo to human robot: the novel automatic picking system changes the traditional shelf-to-person operation mode, can be understood as 'container-to-person', can enable targets to be more accurate, has higher picking efficiency, and can be matched with a peripheral automatic picking system (such as a PopPick goods-to-person picking workstation) to realize full-automatic unmanned picking of orders.

In the present application, a device detection method is provided, and the present application relates to a device detection apparatus, a computing device, and a computer-readable storage medium, which are described in detail in the following embodiments one by one.

Currently, container handling equipment is susceptible to abnormal factors during the performance of handling tasks, resulting in tipping by forward or reverse forces. The container handling equipment usually carries out handling tasks under the multiple scenes such as storage commodity circulation (e.g. pop pick goods to people select workstation), electronic commerce shopping (e.g. goods loading on goods shelves, tally), hotel handling (e.g. luggage access) and the like, and once dumping occurs, the work efficiency can be seriously reduced, the goods shelves and the body of the handling equipment are damaged, the maintenance cost of the equipment is increased, personnel injury is possibly caused, and unpredictable results are caused.

The movable mechanisms in the container handling apparatus are generally classified into two kinds, one is a body movement mechanism capable of controlling the container handling apparatus to move forward and backward on the ground, and the other is a fork holding mechanism capable of moving in both height and depth dimensions, and removing the container from the shelf or carrying the container to the storage position of the shelf by holding or gripping the container.

At present, by adding methods such as anti-collision devices and anti-vibration devices, the stability of the container handling equipment can be improved in the process of moving the body of the container handling equipment (such as transporting containers), and the container handling equipment is effectively prevented from toppling over. In the process of executing tasks (such as picking and placing containers) by the fork holding mechanism of the container handling equipment, the container handling equipment is often prevented from being stressed and toppled by adding a supporting arm to fix the container handling equipment. For example, the container handling apparatus is supported and fixed on the floor, or the container handling apparatus is fixed between two rows of racks via a bidirectional support arm. By the existing method, the manufacturing and maintenance cost of container handling equipment is high, the position cannot be adjusted in the process of executing tasks by the fork holding mechanism, and the container handling equipment is light and flexible.

In order to solve the problems, the embodiment of the application provides a device detection method, which aims to improve the running stability of container handling equipment and reduce the maintenance cost of the equipment.

Specifically, an operation instruction for a fork holding mechanism in container handling equipment is received; responding to the operation instruction, and controlling the fork holding mechanism to execute the operation corresponding to the operation instruction; acquiring information to be detected for detecting whether the container handling equipment is abnormal, wherein the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism; and stopping the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information, wherein the abnormal information comprises information for causing the container carrying equipment to topple. The device attribute information of the container handling device in the operation process of the fork holding mechanism is obtained in the process of executing the operation instruction corresponding operation by the fork holding mechanism, whether the container handling device is possible to topple or not can be monitored in real time in the operation process of the fork holding mechanism, and corresponding measures are timely taken under the condition that the container handling device is detected to be possible to topple or not, so that automatic detection on whether the container handling device is possible to topple or not is realized, the container handling device is timely and effectively prevented from toppling, and stable operation of the container handling device is ensured.

Fig. 1 shows a flowchart of an apparatus detection method applied to a container handling apparatus according to an embodiment of the present application, specifically including the following steps:

step 102: an operation instruction for a fork holding mechanism in the container handling apparatus is received.

The equipment detection method provided by the application is applied to container handling equipment, and specifically, the container handling equipment can be understood as equipment for carrying and transporting containers, and the container handling equipment can be a single container handling robot, a multi-container handling robot, an intelligent forklift and the like. In the equipment detection method provided by the application, the container handling equipment can receive the operation instruction aiming at the fork holding mechanism in the container handling equipment.

The container handling equipment can comprise a body mechanism and a fork holding mechanism, wherein the body mechanism can be provided with a container buffer position, an obstacle sensing device and the like, so that a plurality of containers can be conveniently handled at one time, collision between the container handling equipment and people or obstacles in the transportation process is avoided, and in addition, the body mechanism of the container handling equipment can also comprise a stand column, a chassis, rollers, a damping device and the like, and the container handling equipment is particularly arranged according to actual conditions.

The fork-holding mechanism is understood to be a telescopic fork mechanism which is adapted to the height of the pallet and the depth of each layer and can be moved in two dimensions, height and depth. Optionally, the fork holding mechanism may include two parts of a box taking mechanism and a lifting mechanism, where the box taking mechanism may include a multi-section telescopic device, and may control the telescopic devices of different sections to stretch according to actual situations, and adjust the stretching length, so as to control the fork holding mechanism to move in a depth dimension, so that the fork holding mechanism may move to a target storage position on a shelf, and perform operations such as box taking, box placing, box changing, and the like; the lifting mechanism can control the fork holding mechanism to move in the height dimension, so that the fork holding mechanism can move to a target layer of the goods shelf.

In practical application, after the container carrying equipment moves to the vicinity of the target goods shelf, the body mechanism stops moving, the fork holding mechanism can be controlled to move to the vicinity of the target layer of the goods shelf by controlling the lifting mechanism, and then the box taking mechanism is controlled to move the telescopic fork to the inside of the goods shelf, so that the container carrying equipment reaches the target storage position, and operations such as taking and placing containers are performed. It will be appreciated that the fork-holding mechanism can reach the target storage position of the shelf when extended and can return to the range of the container handling apparatus body when retracted, and the fork-holding mechanism can remove the container from the shelf or handle the container to the storage position of the shelf by holding or clamping the container.

The operation instruction refers to an instruction for controlling the fork holding mechanism to operate. And receiving an operation instruction aiming at the fork holding mechanism, and controlling the fork holding mechanism to execute corresponding operation according to the type of the operation instruction. Illustratively, if the running instruction is a lifting instruction, controlling the fork holding mechanism to execute lifting operation; and if the operation instruction is a telescopic instruction, controlling the fork holding mechanism to execute telescopic operation. The running instruction can be triggered and sent by manually starting a running task, or can be triggered and sent by automatically identifying a task node through container handling equipment or according to a preset task instruction. The operation instruction can be in the forms of voice, triggering message and the like, and can send an instruction triggering message to the main control end of the goods-arrival robot under the condition that the container handling equipment is the goods-arrival robot, and the main control end can immediately respond to control the fork holding mechanism to execute the operation corresponding to the operation instruction under the condition that the message is received.

In one or more embodiments of the application, the operating instructions for the fork-holding mechanism in the container handling apparatus may be received by the control end. Specifically, the control end may be a control chip installed in the container handling apparatus, or may be a system level program deployed in the container handling apparatus for coordinated control. The control end receives the operation instruction, so that the state of the fork holding mechanism in the container handling equipment can be monitored in real time, information related to the operation state of the fork holding mechanism can be timely acquired and detected when the fork holding mechanism is in the operation state, the abnormal condition of the fork holding mechanism can be timely found, and effective solving measures can be taken for the abnormal condition.

Step 104: and responding to the operation instruction, and controlling the fork holding mechanism to execute the operation corresponding to the operation instruction.

In one or more embodiments of the present application, the control end in the container handling apparatus may control the fork-holding mechanism to execute an operation corresponding to the operation instruction in response to the received operation instruction for the fork-holding mechanism in the container handling apparatus.

Specifically, the control end receives the operation instruction, the control end can immediately respond to the operation instruction, the type of the operation instruction is analyzed, and the fork holding mechanism is controlled to execute the operation corresponding to the operation instruction according to the type of the operation instruction.

The operation corresponding to the operation instruction may include lifting operation or telescopic operation according to different operation instruction types.

By receiving and responding to the operation instruction of the fork holding mechanism in the container handling equipment, the fork holding mechanism is controlled to execute corresponding operation, the state of the fork holding mechanism can be monitored in real time, information related to the operation state of the fork holding mechanism is acquired when the fork holding mechanism is in the working state, the acquisition of the information related to the operation state is stopped when the fork holding mechanism is in the state of stopping working, effective detection of abnormal state of the container handling equipment is ensured, and waste of resources such as electricity consumption, system cores and the like is avoided.

Step 106: and acquiring information to be detected for detecting whether the container handling equipment is abnormal, wherein the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism.

In one or more embodiments of the present application, the control end may obtain information to be detected for detecting whether the container handling apparatus is abnormal, during the process of executing the operation corresponding to the operation instruction by the fork-holding mechanism.

Specifically, the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism, and can be used for detecting whether the container handling equipment is abnormal in the operation instruction executing process of the fork holding mechanism so that the possibility of dumping exists. The equipment attribute information can be understood as various information representing equipment attributes of container handling equipment in the operation process of the fork holding mechanism, and the equipment attribute information can comprise various information such as current information, pose information, distance information between equipment and a goods shelf, equipment stress information and the like.

In practical application, through detecting equipment attribute information, can monitor the real-time state of container handling equipment, in the in-process of embracing fork mechanism normal operating, the equipment attribute information that detects all is in normal threshold value scope, and when the unusual condition appears in any one of a plurality of equipment attribute information, surpasses its normal threshold value scope that corresponds, then can judge that container handling equipment has the risk of empting, need take corresponding measure to prevent that container handling equipment emptys.

In practical application, the fork holding mechanism can generate various information related to the operation state of the fork holding mechanism and the state of the container handling equipment in the operation process, and the information can reflect the current states of the fork holding mechanism and the container handling equipment. Whether the related information is abnormal or not is detected in real time, abnormal conditions can be found in time in the operation process of the fork holding mechanism, so that related measures can be taken in time under the condition that the container carrying equipment is possible to topple, and the container carrying equipment is effectively prevented from toppling.

Optionally, the information to be detected may include at least one of information on a holding fork current, information on a device pose, and information on a shelf distance, and accordingly, acquiring the information to be detected for detecting whether the container handling device is abnormal may include:

and acquiring the information of the holding fork current, the information of the equipment pose and the information of the goods shelf distance for detecting whether the container handling equipment is abnormal.

The hugging current information can be understood as current information in the hugging mechanism. In the running process of the fork holding mechanism, a specific operation task is required to be executed through a driving force, so that whether the fork holding current information is abnormal or not can be judged by monitoring the real-time current value in the fork holding mechanism in the running process of the current driving fork holding mechanism.

For example, in an abnormal situation, when the fork holding mechanism interferes with the partition board of the current layer of the goods shelf during lifting, the fork holding current information changes, and the current value increases to exceed the normal current threshold value; in another abnormal situation, in the telescoping process of the fork holding mechanism, due to abnormal reasons such as irregular placement of a goods shelf, error control of the lifting height of the fork holding mechanism and the like, the telescoping fork is possibly pushed onto the goods shelf or onto a container stored in the goods shelf, if the fork holding mechanism continues to go forward to go out of the fork at the moment, the container carrying equipment is possibly toppled, in this case, the current information of the fork holding also changes, and the current value is increased to exceed the normal current threshold.

The equipment pose information may be understood as pose information of the container handling equipment. During operation of the fork-holding mechanism, the container handling apparatus is often located near the shelf and the body mechanism is in a stationary state. If an abnormal situation exists, for example, the fork holding mechanism interferes with a partition board of the current layer of the goods shelf in the lifting process, or a telescopic fork of the fork holding mechanism is propped against the goods shelf, so that the container handling equipment can topple, the body mechanism of the container handling equipment can show abnormal phenomena of left and right swinging, forward tilting and backward tilting, chassis twisting and the like, and the change of the equipment pose information exceeds a normal pose information change threshold value.

The shelf distance information is understood to be distance information between the container handling apparatus and the shelf. During operation of the fork-holding mechanism, the container handling apparatus is often located near the shelf and the body mechanism is in a stationary state. If an abnormal condition exists, for example, the fork holding mechanism interferes with a partition board of the current layer of the goods shelf in the lifting process, or a telescopic fork of the fork holding mechanism is propped against the goods shelf, so that the container handling equipment tilts forwards or backwards, the distance between the container handling equipment and the goods shelf can be changed, and the distance exceeds a preset distance range.

Through obtaining the information of the holding fork current, the information of the equipment pose and the information of the goods shelf distance, the abnormal condition of the container handling equipment can be detected simultaneously from a plurality of dimensions, and the detection result is more accurate and comprehensive. Therefore, corresponding measures are taken in time when the container handling equipment is likely to topple, and the container handling equipment is effectively prevented from toppling.

In practical application, the weight of the container in the fork holding mechanism is overweight, or because of the container handling equipment buffer storage position, each container storage position goes wrong, leads to the container handling equipment focus to be too high, under the condition that body mechanism is unstable and easy to occur to topple over, the abnormal condition of the container handling equipment can also be detected by setting up a pressure sensor, detecting the mode such as the body stress value of the container handling equipment.

Accordingly, acquiring information to be detected for detecting whether the container handling apparatus is abnormal may further include: body stress information for detecting whether the container handling apparatus is abnormal is acquired.

In one or more embodiments of the present application, a current module is disposed in the container handling apparatus, and accordingly, acquiring the information of the fork-holding current for detecting whether the container handling apparatus is abnormal may be achieved by:

and acquiring the information of the fork holding current in the current module.

Specifically, the current module may be disposed in a clasping mechanism of the container handling apparatus, and detect current information of the clasping mechanism in real time. The information of the fork holding current in the current module can be obtained by reading the real-time current of the current module.

The current module is used for acquiring the current information of the fork in real time, detecting whether the current in the fork holding mechanism is abnormal or not, determining whether the container handling equipment is possible to tip over or not according to the abnormality of the current information, guaranteeing the accuracy and timeliness of equipment detection, and timely detecting the abnormality so as to effectively prevent the container handling equipment from tipping.

In one or more embodiments of the present application, an angular velocity meter is provided in a container handling apparatus, and accordingly, acquiring apparatus pose information for detecting whether the container handling apparatus is abnormal may be achieved by:

Acquiring an angular velocity value of the angular velocity meter;

and integrating the angular velocity value in a preset time interval to obtain an angle change value.

Specifically, the angular velocity meter can output the real-time angular velocity of the object, and by integrating the angular velocity value in the preset time period, the angle change value in the preset time period can be obtained. The angular velocity meter may include an angular acceleration sensor, a unidirectional gyroscope, a triaxial gyroscope, and the like.

The angular velocity value may be understood as the angular velocity of the container handling apparatus at a current time point along a certain direction axis, and the angular change value may be understood as the angular change of the container handling apparatus along a certain direction axis within a preset time interval (for example, within half a second), and may be specifically obtained by integrating the angular velocity along the direction axis within the preset time interval.

In one or more embodiments of the present application, angular velocity values respectively output by three axes of a triaxial gyroscope are read in real time, and the angular velocity values respectively output by the three axes are integrated in a preset time interval, so as to obtain angle variation amounts respectively corresponding to the three axes. The triaxial gyroscope can be arranged on a chassis of the container conveying equipment, and can also be arranged on other parts such as a body mechanism, a fork holding mechanism and the like of the container conveying equipment. In the process of acquiring the pose information, the output value of the angular velocity meter on each position of the container conveying equipment can be acquired, and the angle change quantity of each position is detected abnormally.

In the operation process corresponding to the execution operation instruction of the fork holding mechanism of the container handling equipment, the body mechanism is in a static state under an ideal state, and in practical application, the angle change value detected by the angular velocity meter arranged on the chassis of the container handling equipment fluctuates within a preset pose threshold value, so that the pose information of the container handling equipment is understood to be abnormal.

The state of the container handling equipment is monitored through the angular velocity meter, so that the automatic detection of the abnormal condition of the container handling equipment can be realized, and corresponding measures are timely taken to prevent the container handling equipment from toppling over under the abnormal condition.

The body mechanism is in a static state in an ideal state in the operation process corresponding to the execution operation instruction of the fork holding mechanism of the container handling equipment, so that the distance between the container handling equipment and the goods shelf is a fixed value in the ideal state. In practical application, because the fork holding mechanism is influenced by factors such as inertia in the process of executing tasks such as taking and placing containers, the distance between the container handling equipment and the goods shelf can change slightly, and under normal conditions, the change can be in a preset distance range, so that the container handling equipment cannot fall down.

Based on this, can detect the distance between container handling equipment and the goods shelves through range finding device, under the condition that the distance between container handling equipment and the goods shelves surpassed the range of preset distance, can in time sense the unusual condition.

The distance measuring device can comprise an infrared distance measuring instrument and a laser distance measuring sensor, and can also comprise an image acquisition device, such as an infrared camera, a three-dimensional video camera, a two-dimensional code camera and the like. And, the distance measuring device may be provided at different positions of the container handling apparatus. Specifically, the present application may be selected according to the actual situation, and is not limited in any way.

In one or more embodiments of the present application, an image acquisition device is provided in a container handling device, and accordingly, acquiring shelf distance information for detecting whether the container handling device is abnormal may be achieved by:

and acquiring the distance between the container handling equipment and the goods shelf based on the image acquisition equipment to obtain goods shelf distance information.

Specifically, the image pickup device may be a two-dimensional code camera that detects a distance between the container handling device and the shelf by photographing identification of a two-dimensional code set in advance on the shelf. Preferably, the two-dimensional code camera can be arranged on the holding fork mechanism, and the holding fork mechanism can be aligned with a target layer of the goods shelf for moving in the process of executing tasks, so that the two-dimensional code camera on the holding fork mechanism can be aligned with a preset two-dimensional code on the goods shelf for shooting, and the distance between the container carrying equipment and the goods shelf can be acquired more accurately. According to the concrete conditions in practical application, two-dimensional code cameras can be arranged at different positions of container handling equipment.

The distance between the collection container handling equipment and the goods shelf is detected through the distance detection device on the container handling equipment, so that the automatic detection of the abnormal condition of the container handling equipment can be realized, and corresponding measures are timely taken to prevent the container handling equipment from toppling over under the abnormal condition.

In practical application, after obtaining information to be detected for detecting whether the container handling equipment is abnormal, the information to be detected needs to be judged, and whether abnormal information exists in the information to be detected is detected. Thus, in one or more embodiments of the present application, after acquiring information to be detected for detecting whether the container handling apparatus is abnormal, further includes:

judging whether abnormal information exists in the information to be detected.

Specifically, it may be determined whether or not some information to be detected is abnormal information among the acquired plurality of information to be detected. The abnormal information is information which does not meet a preset threshold or a preset range under normal conditions.

In one or more embodiments of the present application, the holding fork current information, the equipment pose information and the shelf distance information are obtained, that is, the holding fork current information, the equipment pose information and the shelf distance information are respectively determined according to different preset detection conditions, and when any one of the holding fork current information, the equipment pose information and the shelf distance information is determined to be abnormal information, an abnormal alarm can be immediately sent to prompt that the container handling equipment has possibility of toppling.

Specifically, the abnormal alarm can be a prompt in the form of sound, text and the like, and can also be in the form of a trigger message. Aiming at the scene that staff exists near the goods shelf carrying equipment, the staff can be informed of abnormal conditions of the equipment through prompts in the forms of sound, words and the like, and the staff is reminded of timely processing the container carrying equipment due to the fact that the abnormal conditions possibly occur to topple over. Aiming at unmanned full-automatic working scenes, an abnormality notification alarm message can be sent to a storage control server of container handling equipment in the form of a trigger message. The storage control server receives the message, immediately responds to the abnormal alarm, sends a stop instruction to the control end of the container handling equipment, controls the fork holding mechanism to stop executing the current operation, and executes an anti-toppling operation program for the container handling equipment.

In practical application, the obtained information to be detected is inaccurate and discontinuous or certain type of information to be detected cannot be obtained in a certain period of time due to the influence of different factors, for example, under the condition that the fork holding mechanism performs lifting operation, the image acquisition device arranged on the fork holding mechanism is discontinuous in shooting of two-dimensional codes in each layer of the goods shelf, so that the situation that the distance of the goods shelf is intermittent in the lifting process of the fork holding mechanism possibly occurs, and the equipment is easy to recognize and error is caused. Based on this, information can be selectively acquired according to actual conditions in different scenes, or abnormality detection can be selectively performed on the acquired information.

By judging whether the information to be detected has abnormal information or not, the obtained information to be detected can be subjected to abnormal condition detection, automatic detection of abnormal conditions of container handling equipment is realized, the running stability of the container handling equipment is ensured, and the equipment maintenance cost is reduced.

In one or more embodiments of the present application, the information to be detected includes the information of the fork holding current, the information of the equipment pose, and the information of the shelf distance, and accordingly, the judgment of whether the information to be detected has abnormal information or not may be implemented by the following S1062-S1066:

s1062, determining the holding fork current information as current abnormality information under the condition that the holding fork current information is larger than a preset current threshold value.

Specifically, the preset current threshold may be understood as current information of the clasping mechanism in the container handling apparatus in an actual application scenario. The current abnormality information is current information in the clasping mechanism under the condition that the clasping current information is larger than a preset current threshold value.

In practical application, because goods shelves are irregular and other abnormal reasons, the fork holding mechanism possibly pushes up to the goods shelves in the forward fork discharging process, the fork holding mechanism possibly interferes with the goods shelves in the ascending and descending process, under these abnormal conditions, abnormal increase phenomenon can appear in the current of the fork holding mechanism, and the fork holding current information is larger than a preset current threshold value.

When the holding fork current information is determined to be current abnormality information, an abnormality alert can be immediately sent out to determine that the container handling equipment has possibility of toppling.

S1064, determining that the equipment pose information is pose abnormal information under the condition that the equipment pose information is larger than a preset pose threshold value.

Specifically, the preset pose threshold may be understood as pose information of the container handling device in an actual application scenario. The pose abnormal information is pose information corresponding to container carrying equipment under the condition that the equipment pose information is larger than a preset pose threshold value.

In practical application, because of abnormal reasons such as goods shelves irregular, the fork holding mechanism possibly can prop up the goods shelves in the forward fork discharging process, and in this case, if the forward fork discharging is continued for a certain length, the container carrying equipment can be inclined. The fork holding mechanism can interfere with the goods shelf in the ascending and descending process, and after the fork holding mechanism is interfered with the goods shelf in the ascending process, if the fork holding mechanism is continuously lifted, the container carrying equipment can fall to the goods shelf; in the descending process of the fork holding mechanism, after the fork holding mechanism is interfered with the goods shelf, if the fork holding mechanism is continuously lowered, the container carrying equipment can tip backwards. In such a case, the angular position of the container handling apparatus may change, resulting in the apparatus pose information being greater than a preset pose threshold.

In one or more embodiments of the present application, the pose information of the container handling apparatus is detected by a three-axis gyroscope provided at the chassis of the container handling apparatus. The three-axis gyroscope can respectively acquire the angular speeds of three directions of x, y and z so as to detect the angular change of the container handling equipment in three dimensions, and specifically, the three-axis gyroscope can acquire the angular change of the container handling equipment in the x-axis direction by acquiring the angular speed of the x-axis direction and integrating the angular speed in a preset time interval; the angular variation of the container handling equipment in the y-axis direction can be obtained by acquiring the angular velocity in the y-axis direction and integrating the angular velocity in a preset time interval; by acquiring the angular velocity in the z-axis direction and integrating the angular velocity in the preset time interval, the angular variation of the container handling equipment in the z-axis direction can be obtained. And when the angle change value of any one of the x, y and z axes exceeds a preset pose threshold value, determining that the pose information of the equipment is pose abnormal information.

Correspondingly, in the three-axis gyroscope, the angle change value of the x-axis exceeds a preset pose threshold value, and container handling equipment can swing left and right to cause possible dumping; the y-axis angle change value exceeds a preset pose threshold value, and the container handling equipment may tilt due to forward tilting and backward tilting; the z-axis angle change value exceeds a preset pose threshold, and the container handling equipment may topple due to column twisting.

When the equipment pose information is determined to be pose abnormal information, an abnormal prompt can be immediately sent out, and the container handling equipment is determined to have possibility of toppling.

S1066, determining the goods shelf distance information as distance abnormality information when the goods shelf distance information exceeds a preset distance range.

Specifically, the shelf distance information may be understood as distance information between the container handling apparatus and the shelf in an actual application scenario. The distance abnormality information is distance information between the container handling apparatus and the shelf when the shelf distance information exceeds a preset distance range.

In practical application, because of abnormal reasons such as goods shelves irregular, the fork holding mechanism possibly can prop up the goods shelves in the forward fork discharging process, and in this case, if the forward fork discharging is continued for a certain length, the container carrying equipment can be inclined. The fork holding mechanism can interfere with the goods shelf in the ascending and descending process, and after the fork holding mechanism is interfered with the goods shelf in the ascending process, if the fork holding mechanism is continuously lifted, the container carrying equipment can fall to the goods shelf; in the descending process of the fork holding mechanism, after the fork holding mechanism is interfered with the goods shelf, if the fork holding mechanism is continuously lowered, the container carrying equipment can tip backwards. Under the above conditions, whether the container is tipped forward or tipped backward, the distance between the container handling equipment and the goods shelf is abnormally changed, and the goods shelf distance information is beyond the preset distance range.

Illustratively, the preset distance range may be set to 30mm-50mm, and in the case of a container handling apparatus being inverted to a shelf, the shelf distance information may be less than 30mm; in the event that the container handling apparatus is tipped back, the shelf distance information may be greater than 50mm.

When the shelf distance information is determined to be the distance abnormality information, an abnormality alert can be immediately issued to determine that there is a possibility of toppling of the container handling apparatus.

In practical application, due to different application scenes, the sequence of triggering the abnormal alarms by the current abnormal information, the pose abnormal information and the distance abnormal information may also be different. For example, when the fork holding mechanism performs an operation at a lower position, the angular change of the gyroscope may be small due to a short column moment arm, and at this time, an abnormality alarm may be given preferentially based on the current abnormality information. When the fork holding mechanism performs operation at a higher position, the angle change of the gyroscope can exceed the preset pose threshold value under the condition of less current increase in the fork holding mechanism due to longer upright post force arm, and at the moment, an abnormal alarm can be sent out preferentially based on pose abnormal information. Therefore, detection logics of three kinds of information, namely the fork holding current information, the equipment pose information and the goods shelf distance information, can be mutually redundant in parallel, can acquire and detect the three kinds of information simultaneously in the process of executing operation instruction corresponding operation by the fork holding mechanism, stops acquiring all kinds of information to be detected under the condition that any one of the three kinds of information to be detected is abnormal, and sends out alarm prompt based on the abnormal information.

Through the abnormal judgment of the obtained holding fork current information, the equipment pose information and the goods shelf distance information, the automatic detection of the container handling equipment can be realized, and under the condition that the information to be detected corresponding to the container handling equipment is abnormal, an alarm is timely sent out and corresponding anti-toppling measures are adopted, so that the stable operation of the container handling equipment can be ensured.

In practical application, because the fork holding mechanism may carry a container in the telescopic fork in the process of executing the operation corresponding to the operation instruction, when the lifting instruction is executed, the fork holding mechanism needs to use more force than when the telescopic instruction is executed due to the influence of the gravity of the container, and the current module needs to provide larger current. Therefore, the preset current threshold corresponding to the current module should be greater than the preset current threshold in the telescoping process in the lifting process of the fork holding mechanism.

Based on this, in one or more embodiments of the present application, the operation instruction may include a lift instruction or a telescopic instruction, and accordingly, the device detection method may further include:

under the condition that the operation instruction is a lifting instruction, determining a preset current threshold value as a first preset current threshold value;

and under the condition that the running instruction is a telescopic instruction, determining the preset current threshold value as a second preset current threshold value.

Specifically, the lifting instruction is an instruction for controlling the fork holding mechanism to execute lifting operation, and the telescopic instruction is an instruction for controlling the fork holding mechanism to execute telescopic operation. The first preset current threshold is a maximum current value which can be achieved by the current module under normal conditions in the process of lifting operation of the fork holding mechanism, and the second preset current threshold is a maximum current value which can be achieved by the current module under normal conditions in the process of telescopic operation of the fork holding mechanism. Because the fork holding mechanism may be affected by the weight of the container during lifting, a larger force needs to be provided to grasp or bear the container, so that a current module is required to provide a larger current, in practical application, a first preset current threshold of a lifting instruction and a second preset current threshold of a telescopic instruction are slightly different, and the practical application is in order.

Illustratively, when the device detection method is applied to a cargo-handling robot, the first preset current threshold is typically 50 amps (a) and the second preset current threshold is typically 35 amps (a).

Different detection conditions are preset for the information to be detected according to different types of operation instructions, so that the state of the container handling equipment can be detected more accurately, and the accuracy and the effectiveness of a detection result are ensured.

In practical application, when the information to be detected for detecting whether the container handling equipment is abnormal is obtained and it is judged that the information to be detected does not have abnormal information, the fork holding mechanism can be controlled to continuously execute the running instruction under execution. That is, after acquiring the information to be detected for detecting whether the container handling apparatus is abnormal, it further includes:

and under the condition that no abnormal information exists in the information to be detected, controlling the fork holding mechanism to continuously execute the operation corresponding to the running instruction.

The information to be detected does not have abnormal information, which indicates that the fork holding mechanism is normally operated at present, and the container handling equipment is not likely to topple, so that the fork holding mechanism can continue to execute tasks.

By acquiring and detecting the information to be detected in real time, the stable and continuous operation of the container handling equipment is ensured under the condition that no abnormal information exists in the information to be detected, the execution efficiency of the container handling task can be improved, and the stability and reliability of the whole automatic detection system are improved.

Step 108: and stopping the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information, wherein the abnormal information comprises information for causing the container carrying equipment to topple.

In one or more embodiments of the present application, when it is determined that there is abnormal information in the information to be detected, the detection module in the container handling apparatus issues an abnormal alarm based on the abnormal information, and the control end may immediately issue a stop instruction in response to the abnormal alarm, control the fork locking mechanism to stop executing the operation, and perform a corresponding anti-toppling action.

Specifically, the operation instruction may include a lifting instruction or a telescopic instruction, and accordingly, stopping the fork holding mechanism from executing the operation corresponding to the operation instruction may be implemented in the following manner:

and controlling the fork holding mechanism to stop lifting operation or stop telescoping operation, and reducing the current of the fork holding mechanism corresponding to the motor.

In practical application, under the condition that abnormal information exists in the information to be detected, the fork holding mechanism is controlled to stop executing the operation corresponding to the operation instruction, and the current of the motor corresponding to the fork holding mechanism is reduced, so that the container transportation equipment is restored to a normal state. Under the condition that the dumping risk of the container handling equipment is detected, the fork holding mechanism can be immediately controlled to stop executing the operation corresponding to the operation instruction, equipment dumping possibly caused by the operation is avoided, the current of the motor corresponding to the fork holding mechanism is reduced, the effect of unloading the fork holding mechanism can be achieved, the container handling equipment is automatically corrected under the action of gravity, and equipment dumping is effectively prevented.

In one or more embodiments of the present application, the operation instruction may be a lifting instruction, and in the case that there is abnormal information in the information to be detected, the fork-holding mechanism is immediately controlled to stop lifting operation, and the force is released to the fork-holding mechanism and the band-type brake is locked, so that the container handling apparatus is self-aligned under the action of gravity, and the container handling apparatus is prevented from being toppled over, and meanwhile, by locking the band-type brake, the fork-holding mechanism is prevented from suddenly falling under the influence of the weight of the container, so that the goods in the container are damaged or the container handling apparatus is prevented from being damaged.

In one or more embodiments of the present application, the operation instruction may be a telescopic instruction, and in the case that there is abnormal information in the information to be detected, the fork-holding mechanism is immediately controlled to stop the telescopic operation, that is, the fork-holding mechanism stops extending or retracting the telescopic fork, and the force is released to the fork-holding mechanism, so that the container handling apparatus is self-aligned under the action of gravity, and the container handling apparatus is prevented from being toppled over by force.

Under the condition that abnormal information exists in the information to be detected, stopping the fork holding mechanism to execute operation corresponding to the operation instruction, and executing corresponding anti-toppling operation according to the operation instruction, full-automatic stable operation of the container handling equipment can be realized, the working efficiency of the container handling equipment is improved, the equipment maintenance cost is reduced, and the human resource cost is reduced.

The device detection method provided by one or more embodiments of the present application receives an operation instruction for a fork holding mechanism in container handling equipment; responding to the operation instruction, and controlling the fork holding mechanism to execute the operation corresponding to the operation instruction; acquiring information to be detected for detecting whether the container handling equipment is abnormal, wherein the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism; and stopping the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information, wherein the abnormal information comprises information for causing the container carrying equipment to topple. The device attribute information of the container handling device in the operation process of the fork holding mechanism is obtained in the process of executing the operation instruction corresponding operation by the fork holding mechanism, whether the container handling device is possible to topple or not can be monitored in real time in the operation process of the fork holding mechanism, and corresponding measures are timely taken under the condition that the container handling device is detected to be possible to topple or not, so that automatic detection on whether the container handling device is possible to topple or not is realized, the container handling device is timely and effectively prevented from toppling, and stable operation of the container handling device is ensured.

In one or more embodiments of the present application, the container handling apparatus may be a cargo-to-robot, and the present application further explains the apparatus detection method by taking the application of the apparatus detection method to the cargo-to-robot as an example through the following embodiments 1 and 2.

It should be noted that the goods-to-robot may be composed of a main control end, a detection module, an execution mechanism, and the like, where the main control end is a system-level program for coordinated control of the goods-to-robot. The main control end can acquire information to be detected through the detection module, so that whether the goods-to-robot has a possibility of tipping is judged, and under the condition that the possibility of tipping exists, the main control end can control the execution module to perform corresponding operation so as to prevent tipping.

Specifically, the detection module may include a plurality of detection units, for example, a distance detection unit, an angle detection unit, a current detection unit, and the like, where the distance detection unit may detect a distance between the cargo to the robot and the shelf in real time, the angle detection unit may detect a body pose state of the cargo to the robot, and the current detection unit may detect current data in the cargo to the robot fork mechanism.

The executing mechanism can comprise a robot body moving mechanism and a fork holding mechanism, wherein the body moving mechanism can control the movement of the robot body, and the fork holding mechanism can control the telescopic fork of the robot to execute operations such as taking and placing containers.

Example 1

In the process that the fork holding mechanism of the goods-to-man robot executes telescopic movement, the situation that the telescopic fork of the fork holding mechanism is propped against the goods shelf possibly occurs due to abnormal reasons such as irregular placement of the goods shelf, and the goods-to-man robot stand column can incline or even topple down due to the fact that the fork is continuously pulled forward for a certain length under the situation.

As shown in fig. 2, fig. 2 shows a process flow chart of a device detection method in a process of performing telescopic movement by a fork mechanism according to an embodiment of the present application; correspondingly, the process flow of the device detection method in the process of executing the telescopic movement of the fork mechanism is specifically described through steps 202-212.

Step 202: the fork holding mechanism performs telescopic movement.

Specifically, the container handling apparatus receives a telescopic instruction for the fork-holding mechanism in the cargo to robot, and may control the fork-holding mechanism to perform telescopic movement in response to the telescopic instruction.

Step 204: acquiring the information of the fork holding current;

step 206: acquiring pose information of a robot;

step 208: and acquiring the goods shelf distance information.

The information of the fork holding current, the information of the robot pose and the information of the shelf distance can be obtained simultaneously. Acquiring the information of the fork holding current from a cargo-to-robot current module; acquiring the angular velocities corresponding to the three axes of the robot from the three-axis gyroscope of the chassis of the cargo to the robot, and acquiring the angular variation corresponding to the three axes by integrating the angular velocities in a preset time interval; through the two-dimensional code camera that the fork mechanism was embraced to the goods to the people robot set up, shoot the preset two-dimensional code on the goods shelves, acquire the distance between robot and the goods shelves.

Step 210: judging whether abnormal information exists in the fork holding current information, the robot pose information and the goods shelf distance information.

Specifically, judging whether the holding fork current information exceeds a second preset current threshold, preferably, the second preset current threshold is 35 amperes (A), and determining the holding fork current information as current abnormality information under the condition that the holding fork current information exceeds the second preset current threshold; judging whether the equipment pose information is larger than a preset pose threshold value, and determining that the robot pose information is pose abnormal information under the condition that the integral angle variation of any axis of the three-axis gyroscope exceeds the preset pose threshold value; judging whether the goods shelf distance information exceeds a preset distance range, preferably, the preset distance range between the goods and the robot and the goods shelf is 30-50 mm, and determining the goods shelf distance information as distance abnormality information under the condition that the goods shelf distance information is smaller than 30 mm or larger than 50 mm.

Step 212: and controlling the fork holding mechanism to stop executing telescopic movement under the condition that abnormal information exists in the fork holding current information, the robot pose information and the goods shelf distance information.

Specifically, if any one of the information of the holding fork current, the information of the robot pose and the information of the shelf distance is determined to be abnormal information, the possibility of tipping the goods to the robot is considered, the holding fork mechanism is controlled to immediately stop executing the telescopic movement, and the holding fork mechanism is unloaded, so that the upright post of the goods to the robot is automatically aligned under the action of gravity.

Through the in-process of embracing fork mechanism and carrying out telescopic movement in goods to the robot, to embracing fork current information, robot pose information, goods shelves distance information's simultaneous monitoring, can realize whether there is the automated inspection who emptys probably to goods to the robot, under the circumstances that any information appears unusual, it is possible to judge that goods to the robot has to tip over, stop telescopic movement immediately and unload the power to embracing fork mechanism, can in time carry out corresponding measure under the circumstances that detects to have the possibility of tipping over, effectively prevent that the robot from taking place to empty, thereby guarantee robot operating stability, improve robot work efficiency, reduce equipment maintenance cost.

Example 2

In the process of lifting movement of the fork holding mechanism of the goods-to-man robot, the situation that the fork holding mechanism interferes with the goods shelf possibly occurs due to abnormal reasons such as irregular placement of the goods shelf, irregular arrangement of intervals between layers of the goods shelf and the like, and when the fork holding mechanism ascends, the situation that the stand column is reversed to the goods shelf can occur if the fork holding mechanism continues to ascend; when the fork mechanism is lowered, the upright post can tip backwards if the fork mechanism is lowered continuously after interfering with the goods shelf.

In this scenario, the recognition of the shelf distance by the two-dimensional code camera provided on the fork mechanism may not be continuous, and the two-dimensional code on the shelf may not be recognized even when the interference occurs, so that the shelf distance information may not be detected in this scenario.

As shown in fig. 3, fig. 3 is a process flow diagram of a device detection method in a process of performing lifting motion by a fork mechanism according to an embodiment of the present application; correspondingly, the process flow of the device detection method in the process of executing the lifting motion by the fork mechanism is specifically described through steps 302-310.

Step 302: the fork holding mechanism performs lifting movement.

Specifically, the container handling apparatus receives a lifting instruction for the fork-holding mechanism in the cargo to robot, and may control the fork-holding mechanism to perform lifting movement in response to the telescopic instruction.

Step 304: and acquiring the information of the fork holding current.

Step 306: and acquiring the pose information of the robot.

It should be noted that, the clasping current information and the robot pose information may be obtained simultaneously. Acquiring the information of the fork holding current from a cargo-to-robot current module; angular velocities corresponding to the three axes of the robot are obtained from the three-axis gyroscope of the chassis of the cargo-to-robot, and angle variation corresponding to the three axes is obtained by integrating the angular velocities in a preset time interval.

Step 308: judging whether abnormal information exists in the fork holding current information and the robot pose information.

Specifically, judging whether the holding fork current information exceeds a first preset current threshold, preferably, the first preset current threshold is 50 amperes (A), and determining the holding fork current information as current abnormality information under the condition that the holding fork current information exceeds the first preset current threshold; judging whether the equipment pose information is larger than a preset pose threshold value, and determining that the robot pose information is pose abnormal information under the condition that the integral angle change quantity of any axis of the three-axis gyroscope exceeds the preset pose threshold value.

Step 310: and controlling the fork holding mechanism to stop executing lifting movement under the condition that abnormal information exists in the fork holding current information, the robot pose information and the goods shelf distance information.

Specifically, under the condition that any one of the information of the holding fork current and the information of the pose of the robot is determined to be abnormal information, the condition that the goods arrive at the robot and the robot are possible to tip over is considered, the holding fork mechanism is controlled to immediately stop executing lifting movement, the holding fork mechanism is unloaded and locked with the band-type brake, so that the upright post of the goods arrive at the robot is automatically aligned under the action of gravity, and meanwhile, when a container exists on the holding fork mechanism, the influence of the self weight of the container is prevented, the holding fork mechanism suddenly drops down, and the goods in the container are damaged or the equipment of the goods arrive at the robot is damaged.

Through the in-process of embracing fork mechanism and carrying out elevating movement in goods to robot, to embracing fork current information, robot pose information's simultaneous monitoring, can realize whether there is the automated inspection who emptys probably to goods to robot, under the circumstances that any information appears unusual, it has the possibility of tipping to judge goods to robot, stop elevating movement immediately, unload the power to embracing fork mechanism and lock band-type brake, can in time carry out corresponding measure under the circumstances that detects to have the possibility of tipping, effectively prevent that the robot from taking place to empty, thereby guarantee robot operating stability, improve robot work efficiency, reduce equipment maintenance cost.

Corresponding to the above method embodiment, the embodiment of the present application further provides an apparatus detection device, as shown in fig. 4, fig. 4 shows a schematic structural diagram of an apparatus detection device provided in an embodiment of the present application, configured in a container handling apparatus, where the apparatus includes:

a receiving module 402 configured to receive an operation instruction for a fork-holding mechanism in a container handling apparatus;

the first execution module 404 is configured to control the fork mechanism to execute an operation corresponding to the operation instruction in response to the operation instruction;

an obtaining module 406 configured to obtain information to be detected for detecting whether the container handling apparatus is abnormal, where the information to be detected is apparatus attribute information of the container handling apparatus during operation of the fork mechanism;

the second execution module 408 is configured to stop the fork holding mechanism from executing the operation corresponding to the operation instruction if the abnormality information exists in the information to be detected, wherein the abnormality information includes information that causes the container handling apparatus to topple over.

Optionally, the obtaining module 406 is further configured to:

Optionally, a current module is arranged in the container handling equipment;

the acquisition module 406 is further configured to:

Optionally, an angular velocity meter is provided in the container handling apparatus;

the acquisition module 406 is further configured to:

acquiring an angular velocity value of an angular velocity meter;

Optionally, an image acquisition device is arranged in the container handling device;

the acquisition module 406 is further configured to:

Optionally, the device detection apparatus further includes:

and the judging module is configured to judge whether abnormal information exists in the information to be detected.

Optionally, the information to be detected comprises fork holding current information, equipment pose information and shelf distance information;

the determination module is further configured to:

under the condition that the holding fork current information is larger than a preset current threshold value, determining that the holding fork current information is current abnormality information;

under the condition that the equipment pose information is larger than a preset pose threshold value, determining the equipment pose information as pose abnormal information;

And under the condition that the goods shelf distance information exceeds the preset distance range, determining the goods shelf distance information as distance abnormality information.

Optionally, the running instruction includes a lifting instruction or a telescoping instruction;

accordingly, the device detection apparatus is further configured to:

the second execution module 408 is further configured to:

and controlling the fork holding mechanism to stop lifting operation or stop telescoping operation.

Optionally, the device detection apparatus further includes:

the third execution module is configured to control the fork holding mechanism to continue to execute the operation corresponding to the running instruction under the condition that the information to be detected does not contain abnormal information.

The above is a schematic solution of a device detection apparatus of the present embodiment. It should be noted that, the technical solution of the device detection apparatus and the technical solution of the device detection method belong to the same conception, and details of the technical solution of the device detection apparatus, which are not described in detail, can be referred to the description of the technical solution of the device detection method.

Fig. 5 illustrates a block diagram of a computing device 500, provided in accordance with an embodiment of the present application. The components of the computing device 500 include, but are not limited to, a memory 510 and a processor 520. Processor 520 is coupled to memory 510 via bus 530 and database 550 is used to hold data.

Computing device 500 also includes access device 540, access device 540 enabling computing device 500 to communicate via one or more networks 560. Examples of such networks include public switched telephone networks (PSTN, public Switched Telephone Network), local area networks (LAN, local Area Network), wide area networks (WAN, wide Area Network), personal area networks (PAN, personal Area Network), or combinations of communication networks such as the internet. The access device 540 may include one or more of any type of network interface, wired or wireless (e.g., network interface card (NIC, network Interface Controller)), such as an IEEE802.12 wireless local area network (WLAN, wireless Local Area Networks) wireless interface, a worldwide interoperability for microwave access (Wi-MAX, world Interoperability for Microwave Access) interface, an ethernet interface, a universal serial bus (USB, universal Serial Bus) interface, a cellular network interface, a bluetooth interface, a near field communication (NFC, near Field Communication) interface, and so forth.

In one embodiment of the application, the above-described components of computing device 500, as well as other components not shown in FIG. 5, may also be connected to each other, such as by a bus. It should be understood that the block diagram of the computing device illustrated in FIG. 5 is for exemplary purposes only and is not intended to limit the scope of the present application. Those skilled in the art may add or replace other components as desired.

Computing device 500 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), mobile phone (e.g., smart phone), wearable computing device (e.g., smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or PC. Computing device 500 may also be a mobile or stationary server.

Wherein the processor 520, when executing the computer instructions, implements the steps of the device detection method.

The foregoing is a schematic illustration of a computing device of this embodiment. It should be noted that, the technical solution of the computing device and the technical solution of the device detection method belong to the same concept, and details of the technical solution of the computing device, which are not described in detail, can be referred to the description of the technical solution of the device detection method.

An embodiment of the present application also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, are configured to implement the steps of the above-described device detection method.

The above is an exemplary version of a computer-readable storage medium of the present embodiment. It should be noted that, the technical solution of the storage medium and the technical solution of the above device detection method belong to the same concept, and details of the technical solution of the storage medium which are not described in detail can be referred to the description of the technical solution of the above device detection method.

The foregoing describes certain embodiments of the present application. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than 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. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

The computer instructions include computer program code that may be in source code form, object code form, executable file or some intermediate form, etc. 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), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.

It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the present application are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.

The preferred embodiments of the application disclosed above are intended only to assist in the explanation of the application. Alternative embodiments are not intended to be exhaustive or to limit the application to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and the full scope and equivalents thereof.

Claims

1. An apparatus detection method, characterized by being applied to a container handling apparatus, the method comprising:

receiving an operation instruction for a fork holding mechanism in the container handling equipment;

and stopping the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information, wherein the abnormal information comprises information causing the container carrying equipment to topple.

2. The method according to claim 1, wherein the acquiring information to be detected for detecting whether the container handling apparatus is abnormal includes:

3. The method of claim 2, wherein the container handling apparatus has a current module disposed therein;

The acquiring of the fork holding current information for detecting whether the container handling equipment is abnormal comprises the following steps:

4. The method of claim 2, wherein an angular velocity meter is provided in the container handling apparatus;

the acquiring equipment pose information for detecting whether the container handling equipment is abnormal or not includes:

acquiring an angular velocity value of the angular velocity meter;

5. The method of claim 2, wherein the container handling apparatus has an image acquisition apparatus disposed therein;

the acquiring the goods shelf distance information for detecting whether the container handling equipment is abnormal comprises the following steps:

6. The method according to claim 1, wherein after the obtaining of the information to be detected for detecting whether the container handling apparatus is abnormal, further comprising:

judging whether abnormal information exists in the information to be detected.

7. The method of claim 6, wherein the information to be detected comprises fork current information, equipment pose information, shelf distance information;

The judging whether the information to be detected has abnormal information or not includes:

and under the condition that the goods shelf distance information exceeds a preset distance range, determining the goods shelf distance information as distance abnormality information.

8. The method of claim 7, wherein the run instruction comprises a lift instruction or a telescope instruction;

the method further comprises the steps of:

under the condition that the running instruction is a lifting instruction, determining the preset current threshold value as a first preset current threshold value;

9. The method of claim 1, wherein the run instruction comprises a lift instruction or a telescope instruction;

stopping the fork holding mechanism from executing the operation corresponding to the operation instruction comprises the following steps:

and controlling the fork holding mechanism to stop lifting operation or stop telescoping operation, and reducing the current of the motor corresponding to the fork holding mechanism.

10. The method according to claim 1, wherein after the obtaining of the information to be detected for detecting whether the container handling apparatus is abnormal, further comprising:

11. An apparatus detection device for use with a container handling apparatus, the device comprising:

a receiving module configured to receive an operation instruction for a fork-holding mechanism in the container handling apparatus;

the acquisition module is configured to acquire information to be detected for detecting whether the container handling equipment is abnormal, wherein the information to be detected is equipment attribute information of the container handling equipment in the operation process of the fork holding mechanism;

and the second execution module is configured to stop the fork holding mechanism from executing the operation corresponding to the operation instruction under the condition that the information to be detected contains abnormal information, wherein the abnormal information comprises information for causing the container carrying equipment to topple.

12. A computing device, comprising: a memory and a processor;

the memory is configured to store computer-executable instructions, the processor being configured to execute the computer-executable instructions, the computer-executable instructions when executed by the processor implementing the device detection method of any one of claims 1-10.

13. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the device detection method of any one of claims 1-10.