CN116750463A - Automatic splitting method and system for goods shelf adjustment - Google Patents
Automatic splitting method and system for goods shelf adjustment Download PDFInfo
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- CN116750463A CN116750463A CN202310993966.9A CN202310993966A CN116750463A CN 116750463 A CN116750463 A CN 116750463A CN 202310993966 A CN202310993966 A CN 202310993966A CN 116750463 A CN116750463 A CN 116750463A
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- 238000004364 calculation method Methods 0.000 description 1
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Abstract
The invention relates to a method and a system for automatically splitting shelf adjustment, wherein the method comprises the following steps: configuring a goods shelf state corresponding to each path in a preset moving path task of the mobile robot; the shelf state includes a shelf angle; after the mobile robot acquires each path in the moving path tasks, calculating the shelf angle of the current path, and if the shelf angle of the current path cannot meet the configuration requirement of the shelf state corresponding to the current path after the mobile robot enters the current path, splitting and generating a shelf adjustment task before entering the current path; and calculating the category of the shelf adjustment task according to the current shelf angle and the target shelf angle, and delivering the shelf adjustment task according to the category. The invention can obviously improve the task execution efficiency of the mobile robot and reduce the task deployment difficulty.
Description
Technical Field
The invention relates to the technical field of goods shelf transportation and adjustment, in particular to an automatic splitting method and system for goods shelf adjustment.
Background
The hidden mobile robot is generally used for transporting carriers such as shelves and trays (hereinafter, collectively referred to as shelves). Various channels, stop points and loading and unloading points exist in the working scene of the mobile robot. Different working scenes have respective requirements on the posture of the shelf, such as the requirement that the long side of the shelf is parallel to the direction of the channel in the rapid channel; the stop point requires the shelf operation port to face the operation table; the feeding and discharging points are required to be placed in sequence.
In order to meet such demands, on the one hand, a rotating mechanism is added to a top plate of the mobile robot, and on the other hand, the robot is required to automatically complete the posture adjustment of the goods shelf. Since the shelf posture requirement is a whole process, the shelf posture adjustment is accompanied by the motion process of the whole mobile robot.
At present, the shelf posture adjustment of the mobile robot is generally used as a single task to perform independent configuration, so that a group of carrying tasks among loading and unloading wharfs can be caused, a large amount of shelf posture adjustment configuration work can be generated, a large amount of task chain configuration work needs to be performed by an implementer, and meanwhile, task management needs to be selected from a large amount of task chains, so that the efficiency is low.
Disclosure of Invention
First, the technical problem to be solved
In view of the above-mentioned drawbacks and shortcomings of the prior art, the present invention provides a method and a system for automatically splitting shelf adjustment, which solve the technical problem that in the prior art, a group of carrying tasks may generate a lot of shelf posture adjustment configuration work due to independent configuration of the shelf posture adjustment of a mobile robot as a single task, so that the efficiency is low and the management is inconvenient.
(II) technical scheme
In order to achieve the above purpose, the main technical scheme adopted by the invention comprises the following steps:
in a first aspect, an embodiment of the present invention provides a method for automatically splitting shelf adjustment, including the following steps:
configuring a goods shelf state corresponding to each path in a preset moving path task of the mobile robot; the shelf state includes a shelf angle;
after the mobile robot acquires each path in the moving path tasks, calculating the shelf angle of the current path, and if the shelf angle of the current path cannot meet the configuration requirement of the shelf state corresponding to the current path after the mobile robot enters the current path, splitting and generating a shelf adjustment task before entering the current path; and calculating the category of the shelf adjustment task according to the current shelf angle and the target shelf angle, and delivering the shelf adjustment task according to the category. .
According to the automatic splitting method for shelf adjustment, the shelf states are configured on the preset path track of the mobile robot, so that tasks of shelf configuration can be synchronously executed when tasks of the path track are executed, a large amount of configuration work is not generated, and task management is facilitated.
Optionally, the classification of the shelf adjustment task includes: the whole car rotates, carries and adjusts and freely adjusts;
the whole vehicle rotates to enable the mobile robot to rotate with the goods shelf, and the back bearing is adjusted to enable the mobile robot to rotate without rotating the goods shelf; the free adjustment is that both the mobile robot and the pallet rotate.
Optionally, the shelf state includes the following categories: front back, left back, right back, parallel back, vertical back, specified angle back and unconstrained angle back;
the angle of the front back is 0 degree; the back is provided with a shelf angle of 180 degrees; the left back is provided with a shelf angle of 90 degrees; the right back is provided with a shelf angle of-90 degrees; the parallel back is at a shelf angle of 0 DEG or 180 DEG; the vertical back is at a shelf angle of 90 degrees or-90 degrees; the specified angle is carried by a back to a shelf angle which is the specified angle; the unconstrained angle is carried by the back of the rack at any angle.
Optionally, the shelf angle of the target is a shelf angle in a shelf state corresponding to each path configured in the moving path task.
Optionally, calculating the shelf angle of the current path includes:
after the mobile robot completes jacking and bearing, identifying the current angle THETA0 of the goods shelf relative to the top plate; and simultaneously recording the mileometer angle THETA1 of the top plate at the moment, so that the shelf angle at the moment in the current path is calculated and obtained as BEINGTHETA=THETA0+THETA1.
Optionally, the current angle THETA0 of the shelf relative to the top plate is identified, and is obtained by identifying the two-dimensional code at the bottom of the shelf.
Optionally, configuring the shelf state corresponding to each path in a preset moving path task of the mobile robot, and when the shelf state corresponding to one path is not configured, the method further includes configuring the shelf state corresponding to the path to be any unconstrained state.
In a second aspect, an embodiment of the present invention provides a shelf adjustment automatic splitting system, including:
the task configuration module is used for configuring the goods shelf state corresponding to each path in the preset moving path task of the mobile robot;
the task splitting module is used for calculating the shelf angle of the current path after the mobile robot acquires each path in the moving path task, and splitting and generating a shelf adjustment task before entering the current path if the shelf angle of the current path cannot meet the configuration requirement of the shelf state corresponding to the current path after the mobile robot enters the current path;
the task issuing module is used for calculating the category of the goods shelf adjusting task according to the current goods shelf angle and the goods shelf angle of the target, and issuing the goods shelf adjusting task according to the category.
In a third aspect, embodiments of the present invention provide a computer system comprising a memory and a processor; a memory for storing a computer program; a processor for implementing the shelf adjustment automatic splitting method as any one of the above, when executing a computer program.
(III) beneficial effects
The beneficial effects of the invention are as follows: according to the automatic splitting method and system for shelf adjustment, the shelf states are configured on the preset path track of the mobile robot, so that tasks configured by the shelf can be synchronously executed together when tasks of the path track are executed, a large amount of configuration work is not generated, and task management is facilitated. In actual operation, arbitrary interruptions in shelf adjustment and resumption can be supported without resuming to take into account the previous state. The problem of buffer memory when intermittent connection is performed in the task and the problem of critical situation when a new task starts are thoroughly avoided.
Drawings
Fig. 1 is a flow chart of a method for automatically splitting shelf adjustment according to a preferred embodiment of the invention.
Detailed Description
The invention will be better explained by the following detailed description of the embodiments with reference to the drawings.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Referring to fig. 1, an embodiment of the present invention provides a method for automatically splitting shelf adjustment, including the following steps:
s1: configuring a goods shelf state corresponding to each path in a preset moving path task of the mobile robot; shelf state includes shelf angle (more ambiguous front, back, left, right, parallel, vertical, and the like state constraints when implemented); in practice, the map editing tool may be used for the movement path task (path result obtained by path planning).
S2: after the mobile robot acquires each path in the moving path tasks, calculating the shelf angle of the current path, and if the shelf angle of the current path cannot meet the configuration requirement of the shelf state corresponding to the current path after the mobile robot enters the current path, splitting and generating a shelf adjustment task before entering the current path;
s3: and calculating the category of the shelf adjustment task according to the current shelf angle and the target shelf angle, and delivering the shelf adjustment task according to the category. In implementation, the target shelf angle is a shelf angle in a shelf state corresponding to each path arranged in the moving path task.
By arranging the goods shelf state on the preset path track of the mobile robot, the tasks of arranging the goods shelf can be synchronously executed when the tasks of the moving path track are executed, a large amount of arrangement work is not generated, and task management is facilitated.
In practice, the category of the shelf adjustment task includes: the whole car rotates, carries the adjustment and freely adjusts. The whole vehicle rotation is that the mobile robot (or simply referred to as the vehicle) rotates with the goods shelf, and the knapsack adjustment is that the mobile robot rotates the goods shelf without rotating; the free adjustment is that both the mobile robot and the pallet rotate.
In practice, the shelf state includes the following categories: front back, left back, right back, parallel back, vertical back, specified angle back and unconstrained angle back;
the angle of the front back is 0 degree; the back is provided with a shelf angle of 180 degrees; the left back is provided with a shelf angle of 90 degrees; the right back is provided with a shelf angle of-90 degrees; the parallel back is at a shelf angle of 0 DEG or 180 DEG; the vertical back is at a shelf angle of 90 degrees or-90 degrees; the specified angle is carried by a back to a shelf angle which is the specified angle; the unconstrained angle is carried by the back of the rack at any angle.
When the moving path track is configured, the goods shelf state is not configured on the preset path track of the moving robot, and is regarded as the unconstrained goods shelf angle, namely, the goods shelf state corresponding to the path is configured as any unconstrained state.
In this embodiment, calculating the shelf angle of the current path includes:
after the mobile robot completes jacking and bearing, identifying the current angle THETA0 of the goods shelf relative to the top plate; and simultaneously recording the mileometer angle THETA1 of the top plate at the moment, so that the shelf angle at the moment in the current path is calculated and obtained as BEINGTHETA=THETA0+THETA1. The angle THETA0 of the current goods shelf relative to the top plate is identified, and the current goods shelf is obtained through identifying the two-dimensional code at the bottom of the goods shelf.
Correspondingly, the embodiment of the invention also provides an automatic splitting system for shelf adjustment, which comprises the following steps:
the task configuration module is used for configuring the goods shelf state corresponding to each path in the preset moving path task of the mobile robot;
the task splitting module is used for calculating the shelf angle of the current path after the mobile robot acquires each path in the moving path task, and splitting and generating a shelf adjustment task before entering the current path if the shelf angle of the current path cannot meet the configuration requirement of the shelf state corresponding to the current path after the mobile robot enters the current path;
the task issuing module is used for calculating the category of the goods shelf adjusting task according to the current goods shelf angle and the goods shelf angle of the target, and issuing the goods shelf adjusting task according to the category.
In addition, an embodiment of the invention provides a computer system including a memory and a processor; a memory for storing a computer program; a processor for implementing the shelf adjustment automatic splitting method of any of the embodiments described above when executing a computer program.
In summary, according to the automatic splitting method and system for shelf adjustment, the shelf states are configured on the preset path track of the mobile robot, so that tasks configured by the shelf can be synchronously executed when tasks of the path track are executed, a large amount of configuration work is not generated, and task management is facilitated. For example, the following cases:
1. parallel arrangement is possible in narrow channels, and for any passing mobile robot, the passing performance can be ensured before entering the channel. The configuration mode can be used for remarkably reducing the difficulty of task configuration without paying attention to the number of mobile robots and how complex the task is to be combined.
2. The intersection needing shelf adjustment configuration can cope with multiple-input multiple-output situations of complex intersections only by paying attention to the adjusted targets. The difficulty of task configuration can be obviously reduced, and the task execution efficiency can be improved.
3. When entering a certain channel, left turning is required to be adjusted left, right turning is required to be adjusted right, and the angle can be automatically calculated without configuration, so that the difficulty of task configuration can be obviously reduced.
4. The machine platform with specific shelf angle requirements is started, special tasks and actions are originally developed, and according to the embodiment of the invention, the shelf angle configuration is carried out without developing the special tasks and actions, so that angle calculation and automation can be automatically realized.
Since the system/device described in the foregoing embodiments of the present invention is a system/device used for implementing the method of the foregoing embodiments of the present invention, those skilled in the art will be able to understand the specific structure and modification of the system/device based on the method of the foregoing embodiments of the present invention, and thus will not be described in detail herein. All systems/devices used in the methods of the above embodiments of the present invention are within the scope of the present invention.
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.
It should be noted that the word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. Several of these means may be embodied by one and the same item of hardware. The use of the terms first, second, third, etc. are for convenience of description only and do not denote any order. These terms may be understood as part of the component name.
Furthermore, it should be noted that in the description of the present specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with the embodiment or example being included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
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 upon learning the basic inventive concepts.
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, the present invention should also include such modifications and variations provided that they fall within the scope of the equivalent technology of the present invention.
Claims (9)
1. The automatic splitting method for shelf adjustment is characterized by comprising the following steps of:
configuring a goods shelf state corresponding to each path in a preset moving path task of the mobile robot; the shelf state includes a shelf angle;
after the mobile robot acquires each path in the moving path tasks, calculating the shelf angle of the current path, and if the shelf angle of the current path cannot meet the configuration requirement of the shelf state corresponding to the current path after the mobile robot enters the current path, splitting and generating a shelf adjustment task before entering the current path; and calculating the category of the goods shelf adjustment task according to the current goods shelf angle and the goods shelf angle of the target, and issuing the goods shelf adjustment task according to the category.
2. The automatic pallet adjustment splitting method of claim 1, wherein:
the category of the shelf adjustment task comprises: the whole car rotates, carries and adjusts and freely adjusts;
the whole vehicle rotates to enable the mobile robot to rotate with the goods shelf, and the back carrying is adjusted to enable the mobile robot to rotate without rotating the goods shelf; the free adjustment is such that both the mobile robot and the pallet are rotated.
3. The automatic pallet adjustment splitting method of claim 1, wherein:
the shelf state includes the following categories: front back, left back, right back, parallel back, vertical back, specified angle back and unconstrained angle back;
the angle of the front back is 0 degree; the back is provided with a shelf angle of 180 degrees; the left back is provided with a shelf angle of 90 degrees; the right back is provided with a shelf angle of-90 degrees; the parallel backs are at a shelf angle of 0 degrees or 180 degrees; the vertical back is at a shelf angle of 90 degrees or-90 degrees; the specified angle is carried by a back of the goods shelf angle which is the specified angle; the unconstrained angle is carried by a user that the angle of the goods shelf is any angle.
4. The automatic pallet adjustment splitting method of claim 3, wherein: the shelf angle of the target is the shelf angle in the shelf state corresponding to each path configured in the moving path task.
5. The automatic pallet adjustment splitting method of any of claims 1-4, wherein: the calculating the shelf angle of the current path comprises the following steps:
after the mobile robot completes jacking and bearing, identifying the current angle THETA0 of the goods shelf relative to the top plate; and simultaneously recording the mileometer angle THETA1 of the top plate at the moment, so that the shelf angle at the moment in the current path is calculated and obtained as BEINGTHETA=THETA0+THETA1.
6. The automatic pallet adjustment splitting method of claim 5, wherein: and identifying the current angle THETA0 of the goods shelf relative to the top plate, and acquiring the two-dimensional code at the bottom of the goods shelf.
7. The automatic pallet adjustment splitting method of claim 5, wherein: the configuration of the shelf state corresponding to each path in the preset moving path task of the mobile robot further comprises that when the shelf state corresponding to one path is not configured, the shelf state corresponding to the path is configured to be an unconstrained arbitrary state.
8. An automatic pallet adjustment splitting system, comprising:
the task configuration module is used for configuring the goods shelf state corresponding to each path in the preset moving path task of the mobile robot;
the task splitting module is used for calculating the shelf angle of the current path after the mobile robot acquires each path in the moving path task, and splitting and generating a shelf adjustment task before entering the current path if the shelf angle of the current path cannot meet the configuration requirement of the shelf state corresponding to the current path after the mobile robot enters the current path;
the task issuing module is used for calculating the category of the goods shelf adjustment task according to the current goods shelf angle and the goods shelf angle of the target, and issuing the goods shelf adjustment task according to the category.
9. A computer system, characterized in that: comprising a memory and a processor; the memory is used for storing a computer program; the processor is configured to implement the shelf adjustment automatic splitting method of any of claims 1-7 when executing the computer program.
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| CN202310993966.9A CN116750463B (en) | 2023-08-09 | 2023-08-09 | Automatic splitting method and system for goods shelf adjustment |
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| CN202310993966.9A CN116750463B (en) | 2023-08-09 | 2023-08-09 | Automatic splitting method and system for goods shelf adjustment |
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