CN117985389A - Material box returning device, control method and system thereof and storage medium - Google Patents
Material box returning device, control method and system thereof and storage medium Download PDFInfo
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
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Abstract
The application provides a bin returning device, a control method, a system and a storage medium thereof, wherein the calibration plate comprises: controlling the bin pick-up device to move to the height of the target stock position; identifying a shelf image by the detection device, wherein the shelf image comprises an image of an upper cross beam adjacent to the target storage location; determining a first relative height between the upper beam and the detection device based on the shelf image; based on the first relative height, the bin retrieval device is controlled to retrieve the bin at the target storage location. The application aims at a bin returning device with a detection device arranged above a tray, and the detection device is used for directly identifying the height difference between an N+1 layer and the upper surface of the tray, and reversely calculating the height difference between an N layer beam and the upper surface of the tray, so that the bin is accurately returned. In the process, the tray is very close to the N layers of cross beams, the height of the tray is only required to be finely adjusted in the process of taking and returning the tray from the N layers of cross beams, and the efficiency of taking and returning the tray is improved.
Description
Technical Field
The application belongs to the technical field of logistics storage, and particularly relates to a material box returning device, a control method and system thereof, and a storage medium.
Background
Currently, a position reference object (such as a two-dimensional code) is usually attached to a shelf beam, and a bin robot detects the position of the reference object through a detection device to determine the position of a bin.
Due to the influence of the visual range of the detection device, the detection device needs to be adjusted to be near the reference object in advance before the detection device recognizes the reference object. In some bin robots, the detection device is mounted at a position directly above the tray, and for such robots, the detection device is aligned with the ply below the bin to be picked up to identify the reference, after which the tray needs to be controlled to rise to a position below the ply below the bin before the bin can be picked up.
However, after the detection device identifies the reference object, the reference object is lifted to take out and return the box, the height adjustment range of the tray is large, and the efficiency of taking out and returning the box is low.
Disclosure of Invention
The application provides a material box returning device, a control method, a system and a storage medium thereof, wherein the material box returning device is controlled by identifying a first relative height between an upper beam and a detection device, so that the height of tray adjustment is reduced, and the efficiency of returning the material box is improved.
An embodiment of a first aspect of the present application provides a method for controlling a bin retrieval device, including:
controlling the bin pick-up device to move to the height of the target stock position;
identifying a shelf image by a detection device, wherein the shelf image comprises an image of an upper cross beam adjacent to the target storage location;
determining a first relative height between the upper beam and the detection device based on the shelf image;
and controlling the bin returning device to fetch and return the bin at the target storage position based on the first relative height.
An embodiment of a second aspect of the present application provides a control system for a bin retrieval device, including:
the control moving module is used for controlling the bin returning device to move to the height of the target stock position;
The image recognition module is used for recognizing shelf images through the detection device, wherein the shelf images comprise images of upper cross beams adjacent to the target storage location;
a determining module for determining a first relative height between the upper beam and the detection device based on the shelf image;
And the control returning module is used for controlling the bin returning device to return the bin at the target storage position based on the first relative height.
An embodiment of a third aspect of the application provides a bin returning device, which comprises a detection device, a tray and a controller;
the detection device is arranged above the tray and is in communication connection with the controller;
The detection device is used for identifying the shelf image and transmitting the shelf image to the controller;
The controller is used for controlling the bin returning device to move to the height of a target stock position, and the shelf image comprises an image of an upper cross beam adjacent to the target stock position; determining a first relative height between the upper beam and the detection device based on the shelf image; and controlling the bin returning device to fetch and return the bin at the target storage position based on the first relative height.
An embodiment of a fourth aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the computer program to implement the method according to the first aspect of the present application.
An embodiment of the fifth aspect of the present application proposes a computer readable storage medium having stored thereon a computer program for execution by a processor to implement the method according to the first aspect of the present application.
The technical scheme provided by the embodiment of the application has at least the following technical effects or advantages:
In the embodiment of the application, a bin returning device with a detection device arranged above a tray is provided, and when an N-layer bin is returned, a mode of directly identifying an N+1-layer beam by the detection device is adopted, and according to a first relative height between the N+1-layer beam and the detection device and the layer spacing of the beam, a third relative height between the upper surface of the N-layer beam and the upper surface of the tray is obtained by reverse calculation. The return bin can be accurately fetched at the target storage location based on the third relative height. Because detection device discernment N+1 layer crossbeam, and detection device installs in the tray top, consequently the tray is very near apart from N layer crossbeam, so the control tray only need finely tune the tray the high in-process that N layer crossbeam got the feed box can, improved the efficiency of getting the feed box of returning.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures.
In the drawings:
FIG. 1 shows a control schematic of a bin pick-up device of the related art;
fig. 2 is a flow chart illustrating a control method of the bin pick-up device according to an embodiment of the present application;
FIG. 3 is a schematic control diagram of a bin retrieval device according to an embodiment of the present application;
FIG. 4 is another flow chart of a method for controlling a bin retrieval device according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of a pick-up box for a top-level beam of a pallet according to an embodiment of the present application;
FIG. 6 is a schematic diagram of a control system of a bin retrieval device according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a mechanical structure of a pallet, a rotary driving assembly and a fork mechanism according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application;
Fig. 9 is a schematic diagram of a storage medium according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application 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 application to those skilled in the art.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
The following describes a bin picking device, a control method, a system and a storage medium thereof according to an embodiment of the application with reference to the accompanying drawings.
At present, the logistics storage field usually stores the material box through a goods shelf, and the goods shelf is a storage shelf formed by a plurality of layers of cross beams. The shelf includes a plurality of storage locations, each of which may be used to house a bin. Bin retrieval devices, such as bin robots, are typically utilized to place or remove bins from inventory locations on shelves.
In some related art the bin retrieval device includes a tray and a detection device mounted above the tray. A position reference object (such as a two-dimensional code) is attached to the beam of the goods shelf, and the position of the feed box is determined by detecting the position of the reference object through a detection device. In the related art, the detection device is aligned with the beam below the material taking box to identify the position reference object, and after identification, the tray needs to be controlled to rise to a position lower than the beam below the material box, and then the material box can be taken out and returned, as shown in fig. 1. However, after the detection device identifies the reference object, the reference object is lifted to take out and return the box, the height adjustment range of the tray is large, and the efficiency of taking out and returning the box is low.
Based on the above, the embodiment of the application provides a control method of a bin returning device, which comprises the steps of identifying a shelf image containing an upper beam adjacent to a target storage position by using a detection device, carrying out image processing on the shelf image, determining a first relative height between the upper beam and the detection device, calculating a third relative height between the upper surface of the beam adjacent to the lower beam and the upper surface of a tray below the target storage position based on the first relative height, and further taking down a bin placed at the target storage position on the lower beam based on the third relative height, or placing the bin at the target storage position on the lower beam. Because the detection device is positioned above the tray, the detection device is identified by aligning with the upper beam above the target storage position, and the tray is nearer to the lower beam in the scene, so that the operation of taking and returning the material box can be carried out only by finely adjusting the height of the tray after the third relative height between the upper surface of the lower beam and the upper surface of the tray is calculated, the adjustment height of the tray is greatly reduced, and the efficiency of taking and returning the material box is improved.
Referring to fig. 2, the control method provided by the embodiment of the present application specifically includes the following steps:
Step 101: the control bin pick-up device is moved to the level of the target inventory location.
When the bin needs to be fetched and returned at the target storage location, the system determines the height position of the target storage location and configures the height position to the bin robot. The bin robot drives the bin retrieval device to move to the height position where the target storage position is located based on the height position.
Step 102: the shelf image is identified by the detection device, and includes an image of an upper beam adjacent to the target storage location.
The detection means may comprise a depth camera, a three-dimensional camera, a spherical panoramic camera, etc. After the bin returning device moves to the target storage position, as the detection device is arranged above the tray, the field of view range of the detection device is easy to cover the upper cross beam adjacent to the upper cross beam above the target storage position, and the detection device shoots a shelf image to identify whether the upper cross beam exists in the shelf image. If the object is not present, the height of the fine-tuning feed box returning device is controlled so that the upper-layer cross beam enters the field of view range of the detection device, and then the shelf image is shot again, so that the shelf image comprises the image of the upper-layer cross beam adjacent to the object storage position.
Step 103: a first relative height between the upper beam and the detection device is determined based on the shelf image.
After the shelf image is obtained through shooting in step 102, image processing is performed on the shelf image, so as to determine a first relative height between the upper beam and the detection device, which are adjacent above the target storage location.
First, the shelf image is subjected to image processing, and each pixel belonging to the upper cross beam is located from the shelf image. The pixel coordinates of the upper cross beam are identified in the shelf image based on the coordinates of each pixel of the upper cross beam.
The embodiment of the application establishes an image coordinate system in the shelf image, wherein the image coordinate system can take the top left vertex of the shelf image as a coordinate origin, the horizontal side where the top left vertex is positioned as an x-axis and the vertical side where the top left vertex is positioned as a y-axis. The image coordinate system can also be established by taking other vertexes of the shelf image as the origin of coordinates, and the specific construction mode of the coordinate system is not limited in the embodiment of the application.
After an image coordinate system is established in the shelf image, determining a pixel point closest to the target storage position from each pixel point of the identified upper cross beam, and determining the coordinate of the closest pixel point as the pixel coordinate of the upper cross beam. The coordinates of the pixel points on the lower surface of the upper cross beam are used as the pixel coordinates of the upper cross beam.
In other embodiments, a two-dimensional code for identifying the position of the upper beam may be attached to the upper beam, and after an image coordinate system is established in the shelf image, the pixel coordinate of the two-dimensional code is determined from the shelf image, and the pixel coordinate of the two-dimensional code is used as the pixel coordinate of the upper beam.
The detection device adopts a depth camera, a three-dimensional camera or a spherical panoramic camera and other cameras capable of acquiring depth or distance information, so that the actual distance between the upper beam and the detection device can be directly obtained in the process of acquiring the shelf image containing the upper beam through the detection device. An attribute parameter of the detection device is acquired, the attribute parameter comprising a focal length of the detection device. And calculating a first relative height between the upper beam and the detection device based on the actual distance, the attribute parameters of the detection device and the pixel coordinates of the upper beam.
Specifically, the center point coordinates of the shelf images are determined first, and the absolute value of the difference between the ordinate of the pixel coordinates of the upper cross beam and the ordinate of the center point coordinates is calculated. And calculating the product of the absolute value of the difference and the actual distance, and calculating the ratio between the product and the focal length of the detection device, wherein the ratio is the actual vertical height between the upper beam and the detection device, namely the first relative height.
Based on the image processing technology, the relative height between the lower surface of the upper beam and the detection device can be accurately calculated according to the shelf images and the attribute parameters of the detection device, and the calculation process is simple and efficient.
Step 104: based on the first relative height, the bin retrieval device is controlled to retrieve the bin at the target storage location.
The embodiment of the application is provided with a second relative height between the detection device and the upper surface of the tray of the bin returning device in advance in the bin returning device, and the layer spacing between the adjacent upper layer cross beam and the lower layer cross beam on the goods shelf. The second relative height and the layer spacing between the adjacent upper layer cross beam and the lower layer cross beam are obtained from a storage of the bin retrieval device.
A third relative height between the lower beam and the upper surface of the pallet is calculated based on the first relative height, the second relative height, and the layer spacing.
Specifically, the sum of a first relative height between the upper beam and the detection device and a second relative height between the detection device and the upper surface of the tray is calculated, resulting in a fourth relative height between the upper beam and the upper surface of the tray. The first relative height is the relative height between the upper beam and the detecting device, and the second relative height is the relative height between the detecting device and the upper surface of the tray, so that the sum of the two is the relative height between the upper beam and the upper surface of the tray.
And calculating the absolute value of the difference between the fourth relative height and the layer spacing between the adjacent upper-layer cross beam and the lower-layer cross beam, wherein the fourth relative height is the relative height between the upper-layer cross beam and the upper surface of the tray, and the relative height is obtained by subtracting the layer spacing between the adjacent upper-layer cross beam and the lower-layer cross beam, namely the third relative height between the upper surface of the lower-layer cross beam and the upper surface of the tray.
Through the mode, when the material returning box is required to be taken out on the lower-layer beam, the lower-layer beam is not required to be shot and identified by the detection device, the goods shelf image containing the upper-layer beam is shot directly by the detection device, the first relative height between the upper-layer beam and the detection device is identified, the third relative height between the upper surface of the lower-layer beam and the upper surface of the tray can be obtained through simple calculation, and the positioning accuracy and efficiency of the lower-layer beam are high. The target storage position can be accurately positioned based on the third relative height, and then the return box can be accurately fetched at the target storage position. And because the detection device shoots upper beam, and detection device installs in the tray top, the tray is very near from the lower floor's beam under this kind of application scene, so the control tray only need finely tune the tray the high in-process that the lower floor's beam got the feed box can, improved the efficiency of getting the feed box of returning.
In practical application, when the bin is taken and returned, a certain height is required to be kept between the tray of the bin taking and returning device and the upper surface of the lower-layer cross beam, and the calculated relative height between the upper surface of the lower-layer cross beam and the upper surface of the tray possibly does not coincide with the certain height, so that fine adjustment of the height of the tray is required.
The embodiment of the application disposes the certain height in the material box taking and returning device in advance and refers to a preset relative height. The preset relative height is the relative height between the upper surface of the tray and the feed box when the feed box taking and returning device takes and returns the feed box. And adjusting the height of the tray according to the preset relative height and the third relative height.
And determining the adjusting direction and the adjusting height of the tray according to the preset relative height and the third relative height. The control tray moves in the adjustment direction to adjust the height. Specifically, comparing the third relative height with a preset relative height, if the third relative height is larger than the preset relative height, determining that the adjusting direction is downward, adjusting the height to be the difference value between the third relative height and the preset relative height, and controlling the tray to move downward by the distance of the difference value. If the third relative height is smaller than the preset relative height, the adjusting direction is determined to be upward, the adjusting height is the difference value between the third relative height and the preset relative height, and the tray is controlled to move upward by the difference value distance. If the third relative height is equal to the preset relative height, the height of the tray is not adjusted.
For example, the preset relative height may be 8mm, and if the third relative height calculated by the dummy design is 16mm, the control tray is moved downward by 8mm.
After the third relative height is calculated through the mode, the box taking and returning operation can be carried out only by finely adjusting the height of the tray, so that the adjusting height of the tray is greatly shortened, and the box taking and returning efficiency is improved.
In the embodiment of the application, when the target storage is positioned on the top-layer cross beam on the uppermost surface of the goods shelf, the cross beam is not arranged above the top-layer cross beam, and in order to accurately position, the embodiment of the application provides two positioning schemes.
In the first scheme, a preset reference object is arranged above the top beam, and the preset reference object can be a bar code or a two-dimensional code. The distance between the preset reference object and the top layer cross beam in the vertical direction can be the layer spacing of the goods shelf or other distances. If the distance is the other distance, the distance between the preset reference object and the top beam is preset in the feed box returning device.
In a scene with a preset reference object arranged above the top-layer beam, the detection device is controlled to shoot the preset reference object above the target storage position, and an image containing the preset reference object is obtained. Based on the image including the preset reference object, a fifth relative height between the preset reference object and the detecting device is determined, and the specific determining process is the same as the operation of step 103, which is not repeated herein. Then, based on the fifth relative height, the bin retrieval device is controlled to retrieve the bin at the target storage location, and the specific process is the same as the operation of step 104, and will not be described again here.
Through set up the reference thing of predetermineeing in top layer crossbeam top, after discernment fifth relative altitude, utilize the relative altitude of fifth can accurately and calculate the relative altitude between top layer crossbeam and the tray upper surface fast, can pinpoint the target storage position based on the relative altitude between top layer crossbeam and the tray upper surface, and then can get the returning case at the target storage position accurately. Moreover, as the detection device shoots a preset reference object and is arranged above the tray, the tray is very close to the top beam, so that the tray is controlled to be only required to be finely adjusted in the process of taking the top beam from the material returning box, and the efficiency of taking the material returning box is improved.
The second scheme is that the recognition scheme in the related technology is adopted, the detection device is used for shooting the top-layer cross beam, the height position of the top-layer cross beam is recognized, then the lifting of the tray is controlled based on the height position of the top-layer cross beam, and then the returning box is taken.
In order to facilitate understanding of the control method provided by the embodiment of the present application, the following description is made with reference to the accompanying drawings. As shown in fig. 3, for the target storage location on the beam N, the bin placed at the target storage location needs to be removed is exemplified in fig. 3. The beam N+1 is shot by the detection device positioned above the tray, the first relative height between the beam N+1 and the detection device is identified, and then the third relative height between the beam N and the upper surface of the tray is calculated. The bin is removed based on the calculated third relative height control tray. It can be seen from fig. 3 that the tray is very close to the beam N in the whole process, so that the box taking operation can be performed by only fine-tuning the tray after the height position of the beam N is calculated.
Fig. 4 shows a schematic flow chart of a control method provided by the embodiment of the application, firstly, a tray is lifted to the height of an N-layer beam, a detection device identifies the n+1-layer beam, the accurate height difference between the upper surface of the N-layer beam and the upper surface of the tray is calculated reversely, the height is finely adjusted, and a return box is taken.
Fig. 5 shows a flow chart of one way of handling the top-level cross beam, first determining whether to retrieve the top-level bin of the pallet, if so, the detector identifies the top-level cross beam, the pallet is raised by one cross beam, and then the bin is retrieved. If the bin at the top layer of the storage rack is not taken, the detection device identifies the N+1 layer of cross beams, calculates the height difference between the upper surface of the N layer of cross beams and the upper surface of the tray, finely adjusts the height of the tray, and takes the bin.
In the embodiment of the application, a bin returning device with a detection device arranged above a tray is provided, and when an N-layer bin is returned, a mode of directly identifying an N+1-layer beam by the detection device is adopted, and according to a first relative height between the N+1-layer beam and the detection device and the layer spacing of the beam, a third relative height between the upper surface of the N-layer beam and the upper surface of the tray is obtained by reverse calculation. The return bin can be accurately fetched at the target storage location based on the third relative height. Because the detection device shoots N+1 layer crossbeam, and detection device installs in the tray top, consequently the tray is very near apart from N layer crossbeam, so the control tray only need finely tune the tray the high in-process that N layer crossbeam got the feed box can, improved the efficiency of getting the feed box of returning.
The embodiment of the application also provides a control system of the bin returning device, which is used for executing the control method provided by any embodiment. As shown in fig. 6, the system includes:
A control moving module 201 for controlling the bin pick-up device to move to a height at which the target stock position is located;
An image recognition module 202 for recognizing, by the detection device, a shelf image including an image of an upper beam adjacent to the target storage location;
A determining module 203, configured to determine a first relative height between the upper beam and the detecting device based on the shelf image;
A control retrieval module 204 for controlling the bin retrieval device to retrieve bins at the target storage location based on the first relative height.
A determining module 203, configured to identify pixel coordinates of the upper beam in the shelf image; a first relative height between the upper beam and the detection device is calculated based on the attribute parameters of the detection device and the pixel coordinates of the upper beam.
A control retrieval module 204 for acquiring a second relative height between the detection device and the upper surface of the tray of the bin retrieval device; acquiring the layer spacing between an upper layer beam and a lower layer beam adjacent to a target storage location; calculating a third relative height between the lower beam and the upper surface of the pallet based on the first relative height, the second relative height, and the layer spacing; based on the third relative height, controlling the bin retrieval device to retrieve the bin at the target storage location.
A control returning module 203, configured to calculate a sum of the first relative height and the second relative height, to obtain a fourth relative height between the upper beam and the upper surface of the tray; and calculating the difference between the fourth relative height and the interlayer spacing to obtain a third relative height between the lower cross beam and the upper surface of the tray.
The control returning module 203 is further configured to obtain a preset relative height between an upper surface of the tray and an upper surface of the lower beam when the bin returning device returns the bin; and adjusting the height of the tray according to the preset relative height and the third relative height.
The height adjusting module is used for determining the adjusting direction and the adjusting height of the tray according to the preset relative height and the third relative height; the control tray moves in the adjustment direction to adjust the height.
The system further comprises: the top beam processing module is used for controlling the detection device to shoot a preset reference object above the target storage position if the target storage position is on the top beam of the goods shelf, so as to obtain an image containing the preset reference object; determining a fifth relative height between the preset reference object and the detection device based on the image containing the preset reference object; based on the fifth relative height, the bin retrieval device is controlled to retrieve the bin at the target storage location on the top beam.
The control system of the bin picking device provided by the embodiment of the application and the control method of the bin picking device provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the stored application program because of the same inventive concept.
The embodiment of the application also provides a material box returning device which comprises a detection device, a tray and a controller;
The detection device is arranged above the tray and is in communication connection with the controller;
the detection device is used for identifying the shelf images and transmitting the shelf images to the controller;
The controller is used for controlling the bin returning device to move to the height of the target stock position, and the shelf image comprises an image of an upper cross beam adjacent to the target stock position; determining a first relative height between the upper beam and the detection device based on the shelf image; based on the first relative height, the bin retrieval device is controlled to retrieve the bin at the target storage location.
The bin returning device also comprises a lifting mechanism;
the lifting mechanism is respectively connected with the controller and the tray;
The controller is used for determining the adjusting direction and the adjusting height of the tray according to the preset relative height and the first relative height; the lifting mechanism is controlled to drive the tray to move along the adjusting direction to adjust the height; the preset relative height is the relative height between the upper surface of the tray and the upper surface of the lower-layer cross beam when the bin returning device returns the bin.
The bin retrieval device further comprises: a rotary driving assembly and a fork holding mechanism;
the rotary driving assembly is respectively connected with the controller, the lifting mechanism and the fork holding mechanism, and is positioned at one end of the fork holding mechanism far away from the tray; the rotary driving assembly is used for driving the fork holding mechanism to rotate around the axis in the vertical direction;
And the controller is used for controlling the rotary driving assembly to drive the fork holding mechanism to take the returning box at the target storage position after the height of the tray is adjusted.
Specifically, the fork holding mechanism is used for moving the feed box on the shelf beam to the tray or moving the feed box on the tray to the shelf beam for storage. The fork holding mechanism is connected with the lifting mechanism through the rotary driving assembly, so that the fork holding mechanism is driven to rotate relative to the lifting mechanism through the rotary driving assembly, and the material taking and returning box is facilitated. It is emphasized that the rotary driving assembly is arranged at one end of the holding fork mechanism away from the tray, so that the rotary driving assembly is arranged above the holding fork mechanism, the space below the holding fork mechanism is avoided, the ineffective space at the lower end of the tray when the box is taken down is reduced, the operation height of the box taking-down device is further reduced, the space below the first layer of the goods shelf is saved, and the utilization rate of the goods shelf and the warehouse is improved.
Fig. 7 shows a mechanical schematic diagram of the pallet, the rotary drive assembly shown at 32 in fig. 7, and the fork holding mechanism shown at 33 and 34 in fig. 7, and reference numeral 31 in fig. 7 indicates the pallet.
The bin picking device provided by the embodiment of the application and the control method of the bin picking device provided by the embodiment of the application have the same beneficial effects as the method adopted, operated or realized by the application program stored by the bin picking device due to the same inventive concept.
The embodiment of the application also provides electronic equipment for executing the control method of the bin returning device. Referring to fig. 8, a schematic diagram of an electronic device according to some embodiments of the present application is shown. As shown in fig. 8, the electronic apparatus 3 includes: a processor 300, a memory 301, a bus 302 and a communication interface 303, the processor 300, the communication interface 303 and the memory 301 being connected by the bus 302; the memory 301 stores a computer program that can be executed on the processor 300, and when the processor 300 executes the computer program, the control method of the bin pick-up device provided by any one of the foregoing embodiments of the present application is executed.
The memory 301 may include a high-speed random access memory (RAM: random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one disk memory. The communication connection between the device network element and at least one other network element is achieved through at least one communication interface 303 (which may be wired or wireless), the internet, a wide area network, a local network, a metropolitan area network, etc. may be used.
Bus 302 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. The memory 301 is configured to store a program, and the processor 300 executes the program after receiving an execution instruction, and the method for controlling the bin return device disclosed in any of the foregoing embodiments of the present application may be applied to the processor 300 or implemented by the processor 300.
The processor 300 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in the processor 300 or by instructions in the form of software. The processor 300 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 301, and the processor 300 reads the information in the memory 301, and in combination with its hardware, performs the steps of the above method.
The control method of the electronic equipment provided by the embodiment of the application and the bin returning device provided by the embodiment of the application has the same beneficial effects as the method adopted, operated or realized by the electronic equipment based on the same inventive concept.
The embodiment of the present application further provides a computer readable storage medium corresponding to the method for controlling the bin pick-up device according to the foregoing embodiment, referring to fig. 9, the computer readable storage medium is shown as an optical disc 30, and a computer program (i.e. a program product) is stored thereon, where the computer program, when executed by a processor, performs the method for controlling the bin pick-up device according to any of the foregoing embodiments.
It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.
The computer readable storage medium provided by the above embodiment of the present application has the same beneficial effects as the method adopted, operated or implemented by the application program stored in the computer readable storage medium, because of the same inventive concept as the control method of the bin retrieving device provided by the embodiment of the present application.
It should be noted that:
in the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the above description of exemplary embodiments of the application, various features of the application are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be construed as reflecting the following schematic diagram: i.e., the claimed application requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this application.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features but not others included in other embodiments, combinations of features of different embodiments are meant to be within the scope of the application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. A method of controlling a bin retrieval device, comprising:
controlling the bin pick-up device to move to the height of the target stock position;
identifying a shelf image by a detection device, wherein the shelf image comprises an image of an upper cross beam adjacent to the target storage location;
determining a first relative height between the upper beam and the detection device based on the shelf image;
and controlling the bin returning device to fetch and return the bin at the target storage position based on the first relative height.
2. The method of claim 1, wherein the determining a first relative height between the upper beam and the detection device based on the shelf image comprises:
Identifying pixel coordinates of the upper cross beam in the shelf image;
The actual distance between the upper beam and the detection device is identified through the detection device;
and calculating a first relative height between the upper beam and the detection device based on the actual distance, the attribute parameters of the detection device and the pixel coordinates of the upper beam.
3. The method of claim 1, wherein controlling the bin retrieval device to retrieve bins at the target storage location based on the first relative height comprises:
acquiring a second relative height between the detection device and the upper surface of the tray of the bin retrieval device;
acquiring the layer spacing between an upper layer beam and a lower layer beam adjacent to the target storage location;
Calculating a third relative height between the lower beam and the pallet upper surface based on the first relative height, the second relative height, and the inter-floor distance;
and controlling the bin returning device to return the bin at the target storage position based on the third relative height.
4. The method of claim 3, wherein the calculating a third relative height between the lower beam and the pallet upper surface based on the first relative height, the second relative height, and the layer spacing comprises:
calculating the sum of the first relative height and the second relative height to obtain a fourth relative height between the upper cross beam and the upper surface of the tray;
And calculating the absolute value of the difference between the fourth relative height and the interlayer spacing to obtain a third relative height between the lower cross beam and the upper surface of the tray.
5. A method according to claim 3, wherein said controlling said bin retrieval device to retrieve bins at said target storage location based on said third relative height comprises:
Acquiring a preset relative height between the upper surface of the tray and the upper surface of the lower-layer cross beam when the bin returning device returns the bin;
And adjusting the height of the tray according to the preset relative height and the third relative height.
6. The method of claim 5, wherein adjusting the height of the tray according to the preset relative height and the third relative height comprises:
determining the adjusting direction and the adjusting height of the tray according to the preset relative height and the third relative height;
And controlling the tray to move the adjusting height along the adjusting direction.
7. The method according to any one of claims 1-6, further comprising:
If the target storage position is on the top beam of the goods shelf, controlling the detection device to shoot a preset reference object above the target storage position to obtain an image containing the preset reference object;
determining a fifth relative height between the preset reference object and the detection device based on an image containing the preset reference object;
and controlling the bin retrieval device to retrieve the bin at the target storage position on the top-layer cross beam based on the fifth relative height.
8. A control system for a bin retrieval device, comprising:
the control moving module is used for controlling the bin returning device to move to the height of the target stock position;
The image recognition module is used for recognizing shelf images through the detection device, wherein the shelf images comprise images of upper cross beams adjacent to the target storage location;
a determining module for determining a first relative height between the upper beam and the detection device based on the shelf image;
And the control returning module is used for controlling the bin returning device to return the bin at the target storage position based on the first relative height.
9. The material box taking and returning device is characterized by comprising a detection device, a tray and a controller;
the detection device is arranged above the tray and is in communication connection with the controller;
The detection device is used for identifying the shelf image and transmitting the shelf image to the controller;
The controller is used for controlling the bin returning device to move to the height of a target stock position, and the shelf image comprises an image of an upper cross beam adjacent to the target stock position; determining a first relative height between the upper beam and the detection device based on the shelf image; and controlling the bin returning device to fetch and return the bin at the target storage position based on the first relative height.
10. The apparatus of claim 9, wherein the bin retrieval device further comprises a lifting mechanism;
The lifting mechanism is respectively connected with the controller and the tray;
The controller is used for determining the adjusting direction and the adjusting height of the tray according to the preset relative height and the first relative height; controlling the lifting mechanism to drive the tray to move the adjusting height along the adjusting direction;
the preset relative height is the relative height between the upper surface of the tray and the upper surface of the lower-layer cross beam when the bin returning device returns the bin.
11. The apparatus of claim 10, wherein the bin retrieval device further comprises: a rotary driving assembly and a fork holding mechanism;
The rotary driving assembly is respectively connected with the controller, the lifting mechanism and the fork holding mechanism, and is positioned at one end of the fork holding mechanism far away from the tray; the rotary driving assembly is used for driving the fork holding mechanism to rotate around an axis in the vertical direction;
And the controller is used for controlling the rotary driving assembly to drive the fork holding mechanism to take the material returning box at the target storage position after the height of the tray is adjusted.
12. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor runs the computer program to implement the method of any one of claims 1-7.
13. A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the method of any of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211335266.2A CN117985389A (en) | 2022-10-28 | 2022-10-28 | Material box returning device, control method and system thereof and storage medium |
| PCT/CN2023/126511 WO2024088306A1 (en) | 2022-10-28 | 2023-10-25 | Material box taking/returning device and control method therefor, system, and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211335266.2A CN117985389A (en) | 2022-10-28 | 2022-10-28 | Material box returning device, control method and system thereof and storage medium |
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| Publication Number | Publication Date |
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| CN117985389A true CN117985389A (en) | 2024-05-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202211335266.2A Pending CN117985389A (en) | 2022-10-28 | 2022-10-28 | Material box returning device, control method and system thereof and storage medium |
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| Country | Link |
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| CN (1) | CN117985389A (en) |
| WO (1) | WO2024088306A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106081455B (en) * | 2016-07-29 | 2018-08-07 | 深圳普智联科机器人技术有限公司 | A kind of storage robot fork truck based on cross beam type storage rack |
| CN108584809B (en) * | 2018-06-01 | 2024-04-19 | 诺力智能装备股份有限公司 | Automatic goods storage and taking control system and method for AGV forklift |
| CN112307861A (en) * | 2019-10-18 | 2021-02-02 | 北京京东尚科信息技术有限公司 | System, method and apparatus for shelf condition monitoring |
| WO2021098782A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市海柔创新科技有限公司 | Carrying device and carrying robot |
| CN113264303A (en) * | 2020-06-12 | 2021-08-17 | 深圳市海柔创新科技有限公司 | Goods taking control method and system, carrying robot and storage medium |
| CN112357827B (en) * | 2020-10-19 | 2022-10-25 | 未来机器人（深圳）有限公司 | AGV-based goods placing pose detection method and goods taking and placing method |
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2022
- 2022-10-28 CN CN202211335266.2A patent/CN117985389A/en active Pending
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| WO2024088306A1 (en) | 2024-05-02 |
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