CN117088023A - Cargo handling method and related device - Google Patents
Cargo handling method and related device Download PDFInfo
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- CN117088023A CN117088023A CN202310934630.5A CN202310934630A CN117088023A CN 117088023 A CN117088023 A CN 117088023A CN 202310934630 A CN202310934630 A CN 202310934630A CN 117088023 A CN117088023 A CN 117088023A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000012546 transfer Methods 0.000 claims abstract description 63
- 238000004590 computer program Methods 0.000 claims description 17
- 238000004891 communication Methods 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 10
- 230000000875 corresponding effect Effects 0.000 description 22
- 230000006870 function Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
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- 239000000463 material Substances 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
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- 238000013500 data storage Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
Abstract
The embodiment of the application provides a cargo handling method and a related device, wherein the method is applied to a handling robot in an intelligent storage system; the method comprises the steps of determining coordinate parameters corresponding to target goods by receiving goods receiving instructions; then, pose information associated with the coordinate parameters is acquired; then moving to the target library position according to the coordinate parameters; when the transfer robot reaches the target storage position, picking up the target goods in the target storage position according to the pose information. Therefore, the target goods are directly grabbed in the target library according to the pose information by storing the pose information during inventory, so that the transfer robot does not need to calculate the pose information in real time, and the efficiency of picking and placing goods by the transfer robot is improved.
Description
Technical Field
The application belongs to the technical field of communication, and particularly relates to a cargo handling method and a related device.
Background
At present, when a robot takes and places goods on a goods shelf, the position of a warehouse or a material box needs to be scanned again every time the goods are taken and placed, and a certain time is consumed in the whole scanning and positioning process, generally about 2 seconds. This approach not only affects the efficiency of the robot in accessing the goods, but also occupies a significant amount of the processing resources of the robot.
Disclosure of Invention
The embodiment of the application provides a cargo handling method and a related device, which are used for improving the efficiency of picking and placing cargoes by a handling robot.
In a first aspect, an embodiment of the present application provides a method for transporting goods, which is applied to a transport robot in an intelligent storage system; the method comprises the following steps:
receiving a goods receiving instruction, wherein the goods receiving instruction comprises coordinate parameters, and the coordinate parameters are used for indicating a target warehouse position where target goods are located;
acquiring pose information associated with the coordinate parameters, wherein the pose information is historical information stored for the target cargo put task; the history information comprises at least one of target position information and target fork attitude information, wherein the target position information is used for indicating the relative position of the target goods and the target storage position after the transfer robot stores the target goods, and the target fork attitude information is used for indicating the fork attitude of the transfer robot when the transfer robot stores the target goods;
moving towards the target library according to the coordinate parameters;
when the transfer robot reaches the target storage position, picking up the target goods in the target storage position according to the pose information.
In a second aspect, an embodiment of the present application provides a cargo handling device, which is applied to a handling robot in an intelligent storage system; the device comprises:
the receiving unit is used for receiving a goods taking instruction, wherein the goods taking instruction comprises coordinate parameters, and the coordinate parameters are used for indicating target stock positions of target goods;
the acquisition unit is used for acquiring pose information associated with the coordinate parameters, wherein the pose information is history information stored for the target cargo put task; the history information comprises at least one of target position information and target fork attitude information, wherein the target position information is used for indicating the relative position of the target goods and the target storage position after the transfer robot stores the target goods, and the target fork attitude information is used for indicating the fork attitude of the transfer robot when the transfer robot stores the target goods;
the navigation unit is used for moving towards the target library according to the coordinate parameters;
and the processing unit is used for picking up the target goods in the target storage position according to the pose information when the transfer robot reaches the target storage position.
In a third aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps of the first or second aspects of the embodiment of the present application.
In a fourth aspect, embodiments of the present application provide a computer storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps described in the first or second aspects of the present embodiment.
In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first or second aspects of the embodiments of the present application. The computer program product may be a software installation package.
It can be seen that in the embodiment of the present application, first, the coordinate parameters corresponding to the target cargo are determined by receiving the cargo receiving instruction; then, pose information associated with the coordinate parameters is acquired; then moving to the target library position according to the coordinate parameters; when the transfer robot reaches the target storage position, picking up the target goods in the target storage position according to the pose information. Therefore, the target goods are directly grabbed in the target library according to the pose information by storing the pose information during inventory, so that the transfer robot does not need to calculate the pose information in real time, and the efficiency of picking and placing goods by the transfer robot is improved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1a is a schematic structural diagram of an intelligent warehousing system according to an embodiment of the present application;
fig. 1b is a schematic structural diagram of an electronic device according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for handling cargo according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a cargo handling device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, system, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
At present, when a robot takes and places goods on a goods shelf, the position of a warehouse or a material box needs to be scanned again every time the goods are taken and placed, and a certain time is consumed in the whole scanning and positioning process, generally about 2 seconds. This approach not only affects the efficiency of the robot in accessing the goods, but also occupies a significant amount of the processing resources of the robot.
In order to solve the above problems, an embodiment of the present application provides a cargo handling method. The method can be applied to a scene of carrying goods by the carrying robot. A goods taking instruction can be received, wherein the goods taking instruction comprises coordinate parameters; then moving to a target library position according to the coordinate parameters; acquiring pose information associated with the coordinate parameters; and finally, when the current position of the transfer robot is detected to be the target physical position, grabbing the target goods in the target library according to the pose information. The present solution may be applied to a variety of scenarios, including but not limited to the application scenarios mentioned above.
The system architecture to which the embodiments of the present application relate is described below.
Fig. 1a is a schematic structural diagram of an intelligent warehousing system 100 according to an embodiment of the present application, where the intelligent warehousing system 100 includes a transfer robot 110 and a dispatching device 120, and the dispatching device 120 is communicatively connected with the transfer robot 110. The scheduling device 120 may be a server, a mobile terminal, etc., and is not limited in uniqueness herein.
The transfer robot 110 can realize autonomous navigation, and can acquire navigation data of the scheduling device 120 to automatically move to a target position.
Specifically, the intelligent warehouse system 100 may include a plurality of transfer robots 110, where the scheduling device 120 is connected to the transfer robots 110 in a wireless communication manner, and further sends target instructions to the transfer robots 110 respectively, so as to instruct the transfer robots 110 to perform the picking operation.
The present application also provides an electronic device 10, as shown in FIG. 1b, comprising at least one processor (processor) 11; a display screen 12; and a memory (memory) 13, which may also include a communication interface (Communications Interface) 15 and a bus 14. The processor 11, the display 12, the memory 13 and the communication interface 15 may communicate with each other via a bus 14. The display 12 is configured to display a user guidance interface preset in the initial setting mode. The communication interface 15 may transmit information. The processor 11 may call logic instructions in the memory 13 to perform the methods of the above embodiments.
Alternatively, the electronic device 10 may be a mobile electronic device, a fixed electronic device, or other devices, and is not limited in this regard.
Further, the logic instructions in the memory 13 described above may be implemented in the form of software functional units and may be stored in a computer readable storage medium when sold or used as a stand alone product.
The memory 13, as a kind of computer readable storage medium, may be configured to store a software program, a computer executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 11 executes functional applications and data processing, i.e. implements the methods of the above embodiments, by running software programs, instructions or modules stored in the memory 13.
The memory 13 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the electronic device 10, and the like. Further, the memory 13 may include a high-speed random access memory, and may also include a nonvolatile memory. For example, a plurality of media capable of storing program codes such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or a transitory storage medium may be used.
The specific method is described in detail below.
Referring to fig. 2, the application further provides a cargo handling method applied to a handling robot in an intelligent storage system; the method comprises the following steps:
step 201, receiving a pick instruction.
The goods taking instruction comprises coordinate parameters, and the coordinate parameters are used for indicating target stock positions where target goods are located.
And 202, acquiring pose information associated with the coordinate parameters.
The position information comprises target position information and target fork attitude information, wherein the target position information is used for indicating the relative positions of the target goods and the target storage positions when the transfer robot stores the target goods, and the target fork attitude information is used for indicating the fork attitude of the transfer robot when the transfer robot stores the target goods. The specific obtaining pose information associated with the coordinate parameters includes: inquiring whether an association relation corresponding to the coordinate parameter exists in an association relation table; and if the association relation is inquired, inquiring the target position information from the first set according to the association relation, and inquiring the target fork attitude information from the second set.
Further, the first set includes a plurality of position information and the second set includes a plurality of fork attitude information; the querying the target position information from the first set according to the association relation query and the target fork attitude information from the second set comprises the following steps: determining a position identifier and a fork gesture identifier in the association relationship, wherein the position identifier is used for indicating a storage position of the target position information, and the fork gesture identifier is used for indicating a storage position of the target fork gesture information; determining corresponding target position information from the plurality of position information according to the position identification; and determining corresponding target fork attitude information from the plurality of fork attitude information according to the fork attitude identification.
In a specific implementation, if a corresponding inventory operation has been performed in the target library location for the target cargo, corresponding pose information when the inventory is stored is saved. In this embodiment, the pose information is stored by dividing it into position information and fork pose information, where a first set stores a plurality of unique position information, and a second set stores a plurality of unique fork pose information, where the first set and the second set may be in a storage table form or other storage forms, and are not limited uniquely herein. When the corresponding association relation of the coordinate parameters is inquired, determining a position identifier and a fork gesture identifier corresponding to the coordinate parameters in the association relation, then inquiring corresponding target position information from storage positions corresponding to the first set according to the position identifiers respectively, and inquiring corresponding target fork gesture information from storage positions corresponding to the second set according to the fork gesture identifiers.
It can be seen that, in this embodiment, the query of the target position information and the target fork posture information is implemented through the position identifier and the fork posture identifier in the association relationship, so that the stored data volume is reduced under the condition of ensuring the query efficiency.
And 203, moving towards the target library according to the coordinate parameters.
By way of example, the coordinate parameters are three-dimensional coordinates, the X-axis and Y-axis of which are used to locate the horizontal position of the shelf in the warehouse space, for example, 1 row and 2 columns; the Z-axis of the three-dimensional coordinates is used to determine the height of the target library on the shelf, e.g., 3 floors; in summary, the target library position for final positioning of the three-dimensional coordinates is as follows: row 1, column 2, layer 3.
And 204, when the transfer robot reaches the target storage position, picking up the target goods in the target storage position according to the pose information.
The target storage location is used for storing the target goods.
In one possible embodiment, the handling robot comprises a fork for picking and placing the target cargo; the picking up the target goods in the target library according to the pose information comprises the following steps: and adjusting the fork posture of the fork according to at least one of the target position information and the fork posture information until the fork posture of the fork meets the picking requirement, and picking up the target goods at the target warehouse position according to the fork posture.
In specific implementation, after the pose information is obtained, the transfer robot determines whether the current position of the transfer robot is consistent with the coordinate parameters, if so, the transfer robot adjusts the fork pose to the target position according to the fork pose information to pick up the target goods in the target position, or adjusts the fork to the pose meeting the goods picking requirement according to the target position information to pick up the target goods in the target position; or after the transfer robot adjusts the fork gesture to the inventory according to the fork gesture information, checking whether the current gesture of the fork meets the goods taking requirement according to the target position information, and taking goods if the checking is successful.
And if the current position of the transfer robot is inconsistent with the target position information, adjusting the position of the transfer robot according to the coordinate parameters so as to enable the transfer robot to be adjusted to an accurate position, and adjusting the fork to the fork posture when in stock according to the fork posture information so as to pick up the target goods in the target storage position.
It can be seen that in this embodiment, when the robot performs picking, the position and the fork posture of the handling robot are directly adjusted by using the historical pose information to perform direct picking, so that picking and placing efficiency is improved.
In one possible embodiment, the method further comprises: the pose information associated with the coordinate parameters is not queried; when the target physical position is reached, acquiring a relative position relation between the transfer robot and the target library position through image equipment; adjusting the pose between the transfer robot and the target warehouse position according to the relative position relation until the picking requirement is met; and acquiring the target goods from the target stock position.
The image equipment is used for acquiring an image containing the position mark; the transfer robot obtains the relative position relation between the transfer robot and the target storage position through the image containing the position mark; and after the carrying robot performs the storage operation on the target goods, the pose information is obtained by storing the relative position relation between the target goods and the target storage position as target position information and storing the fork pose of the target goods as target fork pose information.
By way of example, the location indicia may be an identification code, which may be a bar code, a two-dimensional code, etc., without limitation.
Specifically, the target library bit is provided with an identification code, the identification code is used for indicating attribute information of the target library bit, and the attribute information comprises three-dimensional coordinates; the obtaining, by the image device, the target library bit includes: scanning the identification code to obtain the three-dimensional coordinates; comparing the three-dimensional coordinates with the coordinate parameters; if the target library positions are consistent, identifying the target library positions; if the current position is inconsistent with the target position, determining that the current position and the target position have errors; and sending position error prompt information to the dispatching equipment.
In specific implementation, the identification code is scanned by the image equipment to verify whether the current target position is correct. Specifically, comparing the three-dimensional coordinates obtained by code scanning with the coordinate parameters, if the three-dimensional coordinates are consistent, the three-dimensional coordinates are correct, and if the three-dimensional coordinates are inconsistent, the three-dimensional coordinates are incorrect. When the target bin position is determined, the position relation between the image acquired by the image equipment and the target bin position is adjusted, and after the position relation is determined, the fork gesture of the transfer robot is adjusted so as to perform the picking operation on the target bin position.
In addition, when it is determined that the transfer robot is picking up the target bin for the first time, first position information and first fork posture information in the process of inventory and picking up the goods are recorded, and the fork posture information may be a changing process or static data, which is not limited uniquely. After the first position information and the first fork attitude information are recorded, comparing the first position information with a plurality of pieces of second position information stored in a first set, and if a third position information identical to the first position information exists in the plurality of pieces of second position information, only generating a position information identifier corresponding to the third position information to be associated with the coordinate parameter; if the third position information does not exist in the plurality of second position information, the first position information is stored in the first set, and a position information mark corresponding to the first position information is generated and correlated with the coordinate parameter. Similarly, the first fork attitude information is stored in a storage mode of the first position information.
It can be seen that, in this embodiment, by setting a verification mechanism, whether the current position is the target position is further verified, so as to avoid that the goods are misplaced, in addition, the first set and the second set are created, the same pose information is only stored once, and then, the pose information can be retrieved by associating different target library positions with corresponding position information identifiers and fork pose identifiers, so that the data volume stored is reduced under the condition that the query efficiency is ensured.
The foregoing description of the embodiments of the present application has been presented primarily in terms of a method-side implementation. It will be appreciated that the mobile electronic device, in order to achieve the above-described functionality, comprises corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The embodiment of the application can divide the functional units of the electronic device according to the method example, for example, each functional unit can be divided corresponding to each function, and two or more functions can be integrated in one processing unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice.
Referring to fig. 3, the present application further provides a cargo handling device 40, which is applied to a handling robot in an intelligent storage system, wherein the intelligent storage system includes the handling robot and a dispatching device, and the dispatching device is in communication connection with the handling robot; the cargo handling device 40 includes:
a receiving unit 41, configured to receive a pickup instruction, where the pickup instruction includes a coordinate parameter, and the coordinate parameter is used to indicate a target bin of a target cargo;
an obtaining unit 43, configured to obtain pose information associated with the coordinate parameter, where the pose information is history information stored for the target cargo delivery task; the history information comprises at least one of target position information and target fork attitude information, wherein the target position information is used for indicating the relative position of the target goods and the target storage position after the transfer robot stores the target goods, and the target fork attitude information is used for indicating the fork attitude of the transfer robot when the transfer robot stores the target goods;
a navigation unit 42 for moving toward the target library according to the coordinate parameters;
and a processing unit 44, configured to pick up the target cargo in the target storage location according to the pose information when the transfer robot reaches the target storage location.
It can be seen that in the embodiment of the present application, first, the coordinate parameters corresponding to the target cargo are determined by receiving the cargo receiving instruction; then, pose information associated with the coordinate parameters is acquired; then moving to the target library position according to the coordinate parameters; when the transfer robot reaches the target storage position, picking up the target goods in the target storage position according to the pose information. Therefore, the target goods are directly grabbed in the target library according to the pose information by storing the pose information during inventory, so that the transfer robot does not need to calculate the pose information in real time, and the efficiency of picking and placing goods by the transfer robot is improved.
In one possible embodiment, in terms of the acquiring pose information associated with the coordinate parameters, the acquiring unit 43 is specifically configured to: inquiring whether an association relation corresponding to the coordinate parameter exists in an association relation table; and if the association relation is inquired, inquiring the target position information from the first set according to the association relation, and inquiring the target fork attitude information from the second set.
In one possible embodiment, the first set includes a plurality of position information and the second set includes a plurality of fork attitude information; the obtaining unit 43 is specifically configured to query the target position information from the first set according to the association relation query, and query the target fork attitude information from the second set, where: determining a position identifier and a fork gesture identifier in the association relationship, wherein the position identifier is used for indicating a storage position of the target position information, and the fork gesture identifier is used for indicating a storage position of the target fork gesture information; determining corresponding target position information from the plurality of position information according to the position identification; and determining corresponding target fork attitude information from the plurality of fork attitude information according to the fork attitude identification.
In one possible embodiment, the handling robot comprises a fork for picking and placing the target cargo; the aspect of picking up the target cargo in the target library according to the pose information, the processing unit 44 is specifically configured to: and adjusting the fork posture of the fork according to at least one of the target position information and the fork posture information until the fork posture of the fork meets the picking requirement, and picking up the target goods at the target warehouse position according to the fork posture.
In one possible embodiment, the apparatus further comprises: the obtaining unit 43 is further configured to not query pose information associated with the coordinate parameter; the processing unit 44 is further configured to not query the pose information associated with the coordinate parameter; when the target physical position is reached, acquiring a relative position relation between the transfer robot and the target library position through image equipment; adjusting the pose between the transfer robot and the target warehouse position according to the relative position relation until the picking requirement is met; and acquiring the target goods from the target stock position.
The image equipment is used for acquiring an image containing the position mark; and the transfer robot obtains the relative position relation between the transfer robot and the target storage position through the image containing the position mark. And after the carrying robot performs the storage operation on the target goods, the pose information is obtained by storing the relative position relation between the target goods and the target storage position as target position information and storing the fork pose of the target goods as target fork pose information.
The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more sets of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.
The embodiment of the application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program makes a computer execute part or all of the steps of any one of the above method embodiments, and the computer includes an electronic device.
Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform part or all of the steps of any one of the methods described in the method embodiments above. The computer program product may be a software installation package, said computer comprising an electronic device.
It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other manners. For example, the device embodiments described above are merely illustrative; for example, the division of the units is only one logic function division, and other division modes can be adopted in actual implementation; for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may be physically included separately, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, magnetic disk, optical disk, volatile memory or nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example but not limitation, many forms of random access memory (random access memory, RAM) are available, such as Static RAM (SRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), synchronous Link DRAM (SLDRAM), and direct memory bus RAM (DR RAM). Etc. various media in which program code may be stored.
Although the present application is disclosed above, the present application is not limited thereto. Variations and modifications, including combinations of the different functions and implementation steps, as well as embodiments of the software and hardware, may be readily apparent to those skilled in the art without departing from the spirit and scope of the application.
Claims (10)
1. A method of handling cargo, characterized by being applied to a handling robot in an intelligent warehousing system, the method comprising:
receiving a goods receiving instruction, wherein the goods receiving instruction comprises coordinate parameters, and the coordinate parameters are used for indicating a target warehouse position where target goods are located;
acquiring pose information associated with the coordinate parameters, wherein the pose information is historical information stored for the target cargo put task; the history information comprises at least one of target position information and target fork attitude information, wherein the target position information is used for indicating the relative position of the target goods and the target storage position after the transfer robot stores the target goods, and the target fork attitude information is used for indicating the fork attitude of the transfer robot when the transfer robot stores the target goods;
moving towards the target library according to the coordinate parameters;
when the transfer robot reaches the target storage position, picking up the target goods in the target storage position according to the pose information.
2. The method of claim 1, wherein the acquiring pose information associated with the coordinate parameters comprises:
inquiring whether an association relation corresponding to the coordinate parameter exists in an association relation table;
and if the association relation is inquired, inquiring the target position information from the first set according to the association relation, and inquiring the target fork attitude information from the second set.
3. The method of claim 2, wherein the first set includes a plurality of position information and the second set includes a plurality of fork attitude information;
the querying the target position information from the first set according to the association relation query and the target fork attitude information from the second set comprises the following steps:
determining a position identifier and a fork gesture identifier in the association relationship, wherein the position identifier is used for indicating a storage position of the target position information, and the fork gesture identifier is used for indicating a storage position of the target fork gesture information;
determining corresponding target position information from the plurality of position information according to the position identification;
and determining corresponding target fork attitude information from the plurality of fork attitude information according to the fork attitude identification.
4. The method of claim 1, wherein the handling robot comprises a fork for picking and placing the target cargo; the picking up the target goods in the target library according to the pose information comprises the following steps:
and adjusting the fork posture of the fork according to at least one of the target position information and the fork posture information until the fork posture of the fork meets the picking requirement, and picking up the target goods at the target warehouse position according to the fork posture.
5. The method according to claim 1, wherein the method further comprises:
the pose information associated with the coordinate parameters is not queried;
when the target physical position is reached, acquiring a relative position relation between the transfer robot and the target library position through image equipment;
adjusting the pose between the transfer robot and the target warehouse position according to the relative position relation until the picking requirement is met;
and acquiring the target goods from the target stock position.
6. The method according to claim 5, wherein the target stock location is provided with a location mark, and the image device is configured to acquire an image containing the location mark;
and the transfer robot obtains the relative position relation between the transfer robot and the target storage position through the image containing the position mark.
7. The method according to claim 1, wherein the pose information is obtained by storing, as target position information, a relative positional relationship between the target cargo and the target stock position after the transfer robot has performed a storage operation for the target cargo, and storing, as the target fork pose information, a fork pose at the time of storing the target cargo.
8. A cargo handling device for use with a handling robot in an intelligent warehouse system, the device comprising:
the receiving unit is used for receiving a goods taking instruction, wherein the goods taking instruction comprises coordinate parameters, and the coordinate parameters are used for indicating target stock positions of target goods;
the acquisition unit is used for acquiring pose information associated with the coordinate parameters, wherein the pose information is history information stored for the target cargo put task; the history information comprises at least one of target position information and target fork attitude information, wherein the target position information is used for indicating the relative position of the target goods and the target storage position after the transfer robot stores the target goods, and the target fork attitude information is used for indicating the fork attitude of the transfer robot when the transfer robot stores the target goods;
the navigation unit is used for moving towards the target library according to the coordinate parameters;
and the processing unit is used for picking up the target goods in the target storage position according to the pose information when the transfer robot reaches the target storage position.
9. An electronic device comprising a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-7.
10. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to execute the instructions of the steps in the method according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310934630.5A CN117088023A (en) | 2023-07-26 | 2023-07-26 | Cargo handling method and related device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310934630.5A CN117088023A (en) | 2023-07-26 | 2023-07-26 | Cargo handling method and related device |
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| Publication Number | Publication Date |
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| CN117088023A true CN117088023A (en) | 2023-11-21 |
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|---|---|---|---|
| CN202310934630.5A Pending CN117088023A (en) | 2023-07-26 | 2023-07-26 | Cargo handling method and related device |
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| Country | Link |
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| CN (1) | CN117088023A (en) |
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- 2023-07-26 CN CN202310934630.5A patent/CN117088023A/en active Pending
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