CN118205851A - Cargo handling method, device, equipment and storage medium - Google Patents
Cargo handling method, device, equipment and storage medium Download PDFInfo
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Abstract
According to the cargo handling method, the device, the equipment and the storage medium, identification information of the object to be handled is obtained, category information of cargoes in the object to be handled is determined according to the identification information, target operation parameters of a cargo handling device corresponding to the category information are obtained from a database, finally the target operation parameters are sent to a control device, and the control device is triggered to control the cargo handling device to handle the cargoes to a target position according to the target operation parameters. The cargo handling device is configured with the adaptive target operation parameters according to the category information to be handled and acquired, so that the safety during cargo handling is improved; in addition, the corresponding relation between the category information of the cargoes and the operation parameters of the cargo handling device is stored in the database in advance, so that the efficiency of determining the target operation parameters of the cargo handling device is improved, and the cargo handling efficiency is improved.
Description
Technical Field
The present application relates to the field of robotics, and in particular, to a method, apparatus, device, and storage medium for handling goods.
Background
With the development of robot technology, in the industrial production process, more and more goods handling work is handed over to be accomplished by the robot to not only can reduce the human cost, can also improve the efficiency of goods handling, realize the automation of goods handling.
In the related art, in the process of carrying out goods through the robot, the mechanical arm of the robot can carry out operations such as picking, placing, moving and the like on all goods according to uniformly set speed and acceleration, so that the goods to be carried are carried to a target position.
However, in order to improve the efficiency of cargo handling in a practical use scenario, a higher speed and acceleration are usually set for the operation of the robot arm, but the safety is low when the cargo handling is performed with the higher speed and acceleration.
Disclosure of Invention
The application provides a cargo handling method, a cargo handling device, a cargo handling equipment and a storage medium, which are used for improving the safety during cargo handling. Specifically, the embodiment of the application discloses the following technical scheme:
In a first aspect, an embodiment of the present application provides a cargo handling method applied to a terminal device, where the terminal device is connected to a control device, and the control device is connected to the cargo handling device, the method includes: acquiring identification information of an object to be carried; the identification information is used for representing the unique identification of the object to be carried; determining category information of goods in the object to be carried according to the identification information; acquiring target operation parameters of the cargo handling device corresponding to the category information from the database; wherein, the database stores the corresponding relation between the category information of a plurality of cargos and the operation parameters of the cargo handling device in advance; and sending the target operation parameters to the control device, and triggering the control device to control the cargo handling device to handle the cargo to be handled to the target position by the target operation parameters.
With reference to the first aspect, in one possible implementation manner of the first aspect, the cargo handling device includes a mechanical arm and a peripheral accessory device, where the peripheral accessory device includes at least one of a container storage rack, a conveyor line workbench, a container receiving and pushing mechanism, a conveyor line body, and a safety control mechanism; the mechanical arm is used for carrying out the taking operation on the object to be carried on the conveyor line workbench and placing the object to be carried to a target position through movement; the container storage shelf is used for storing objects to be carried; the container receiving and pushing mechanism is used for pushing the object to be carried to the claw of the mechanical arm when the object to be carried is positioned on the conveyor line workbench, so that the mechanical arm can carry out the taking operation of the object to be carried; the conveying line body is used for conveying the object to be conveyed to the conveying line workbench; the safety control mechanism is used for controlling the mechanical arm to be in a static state when the mechanical arm is abnormal.
With reference to the first aspect, in one possible implementation manner of the first aspect, the cargo handling device includes a mechanical arm and a peripheral accessory device, the peripheral accessory device including a container storage rack and a workbench; the mechanical arm is used for carrying out the operation of taking the object to be carried on the workbench and placing the object to be carried to the target position through movement; the container storage shelf is used for storing objects to be transported.
With reference to the first aspect, in a possible implementation manner of the first aspect, the method further includes: acquiring category information of a plurality of cargoes; acquiring a first operation parameter corresponding to the mechanical arm and a second operation parameter corresponding to the peripheral matched equipment when each cargo is carried, wherein the operation parameters of the cargo carrying device comprise the first operation parameter and the second operation parameter; and generating a corresponding relation based on the category information of each cargo and the first operation parameter and the second operation parameter which correspond to the category information respectively.
With reference to the first aspect, in one possible implementation manner of the first aspect, acquiring, from a database, a target operation parameter of the cargo handling device corresponding to the category information, includes:
acquiring the quantity of category information; if the number of the category information is one, acquiring the operation parameters of the cargo handling device corresponding to the category information from a database, and taking the operation parameters as target operation parameters; if the number of the category information is a plurality of, respectively acquiring the operation parameters of the cargo handling device corresponding to each category information from the database, and determining a target operation parameter from the plurality of operation parameters; the target operation parameter is one of a plurality of operation parameters, which can minimize the damage rate of the cargo handling device when the cargo handling device is handling the cargo to be handled.
With reference to the first aspect, in one possible implementation manner of the first aspect, after the triggering control device controls the cargo handling device to handle the cargo to be handled to the target location with the target operation parameter, the method further includes:
Calculating the damage rate of goods in the object to be transported; if the damage rate of the goods is greater than or equal to a preset damage rate threshold value, reducing the operation parameters corresponding to the category information of the goods, and updating the reduced operation parameters into the corresponding relation in the database; if the damage rate of the goods is smaller than the preset damage rate threshold value, increasing the operation parameters corresponding to the category information of the goods, and updating the increased operation parameters to the corresponding relation in the database.
With reference to the first aspect, in one possible implementation manner of the first aspect, acquiring, from a database, a target operation parameter of the cargo handling device corresponding to the category information, includes:
and acquiring the updated corresponding relation, and determining the target operation parameters of the cargo handling device corresponding to the category information based on the updated corresponding relation.
In a second aspect, embodiments of the present application also provide a cargo handling device, the device comprising:
The first acquisition module is used for acquiring identification information of the object to be carried; the identification information is used for representing the unique identification of the object to be carried;
The determining module is used for determining category information of cargoes in the object to be carried according to the identification information;
The second acquisition module is used for acquiring target operation parameters of the cargo handling device corresponding to the category information from the database; wherein, the database stores the corresponding relation between the category information of a plurality of cargos and the operation parameters of the cargo handling device in advance;
the sending module is used for sending the target operation parameters to the control device and triggering the control device to control the cargo handling device to handle the cargo to be handled to the target position according to the target operation parameters.
In a third aspect, an embodiment of the present application provides an electronic device (computer device), including: a processor and a memory for storing computer executable instructions; a processor configured to read instructions from a memory and execute the instructions to implement the method of the first aspect and any implementation manner of the first aspect.
In a fourth aspect, embodiments of the present application also provide a computer-readable storage medium having stored therein computer instructions for causing the computer to perform the method of the first aspect and any implementation manner of the first aspect.
In addition, an embodiment of the present application also provides a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the method in any implementation of the first aspect.
According to the cargo handling method, the device, the equipment and the storage medium, identification information of the object to be handled is obtained, category information of cargoes in the object to be handled is determined according to the identification information, target operation parameters of a cargo handling device corresponding to the category information are obtained from a database, finally the target operation parameters are sent to a control device, and the control device is triggered to control the cargo handling device to handle the cargoes to a target position according to the target operation parameters. The cargo handling device can be configured with the appropriate target operation parameters according to the type information to be handled and acquired, so that the safety during cargo handling is improved, and meanwhile, the flexibility during cargo handling of different types is also improved; in addition, the corresponding relation between the category information of the cargoes and the operation parameters of the cargo handling device is stored in the database in advance, so that the efficiency of determining the target operation parameters of the cargo handling device is improved, and the cargo handling efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a method for handling cargo 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 flowchart for generating a correspondence provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a peripheral accessory device according to an embodiment of the present application;
FIG. 5 is a flowchart for obtaining a target operating parameter according to an embodiment of the present application;
FIG. 6 is a flowchart for updating a correspondence provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of a cargo handling device 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.
Detailed Description
In order to better understand the technical solution in the embodiments of the present application and make the above objects, features and advantages of the embodiments of the present application more comprehensible, the technical solution in the embodiments of the present application is described in further detail below with reference to the accompanying drawings.
In the prior art, in the process of carrying cargoes through a robot, the mechanical arm of the robot can carry out operations such as picking, placing and moving on all cargoes according to uniformly set speed and acceleration, so that the cargoes to be carried are carried to a target position. However, in order to improve the efficiency of cargo handling in a practical use scenario, a higher speed and acceleration are usually set for the operation of the robot arm, but the safety is low when the cargo handling is performed with the higher speed and acceleration. Conversely, if the cargo is transported at a low speed and acceleration to ensure safety, the efficiency of cargo transport is reduced.
In view of this, embodiments of the present application provide a method, an apparatus, a device, and a storage medium for transporting goods, by acquiring identification information of an object to be transported, determining category information of goods in the object to be transported according to the identification information, acquiring target operation parameters of a goods transporting device corresponding to the category information from a database, and finally sending the target operation parameters to a control device, and triggering the control device to control the goods transporting device to transport the goods to be transported to a target location according to the target operation parameters. The cargo handling device can be configured with the appropriate target operation parameters according to the type information to be handled and acquired, so that the safety during cargo handling is improved, and meanwhile, the flexibility during cargo handling of different types is also improved; in addition, the corresponding relation between the category information of the cargoes and the operation parameters of the cargo handling device is stored in the database in advance, so that the efficiency of determining the target operation parameters of the cargo handling device is improved, and the cargo handling efficiency is improved.
As shown in fig. 1, fig. 1 is a schematic view of a scenario of a cargo handling method according to an embodiment of the present application, where a terminal device 102 is connected to a vision scanning device 104 and a control device 106, and the control device 106 is connected to a cargo handling device 108. Wherein, the terminal device 102 is provided with an upper layer service system for executing a cargo handling method; the visual scanning device 104 may be a camera, and is used for scanning and identifying a cargo box loaded with the cargo to be carried, so as to determine category information of the cargo to be carried in the object to be carried according to an identification result, alternatively, in an application scenario of the cargo carrying method, the visual scanning device 104 may not be included, that is, the terminal device 102 is connected with the control device 106, the control device 106 is connected with the cargo carrying device 108, and further, the identification information of the object to be carried may be directly queried from an upper layer service system based on the location information of the object to be carried; the control device 106 may include a programmable logic controller (Programmable Logic Controller, abbreviated as PLC) for receiving the target operating parameters of the cargo handling device 108 sent by the terminal device 102 and controlling the cargo handling device 108 based on the target operating parameters; the cargo handling device 108 may be a mechanical arm, which may be a suction-type mechanical arm, or may be another type of mechanical arm, which is not limited in this embodiment, and the cargo handling device 108 may handle the cargo to be handled to the target location with the target operation parameters.
The following describes the technical scheme provided by the embodiment of the application in detail by combining the drawings. Fig. 2 is a flowchart of a cargo handling method according to an embodiment of the present application, the method includes the following steps:
step 202, acquiring identification information of an object to be conveyed.
The object to be carried may be a container, or may be an object such as an original container, a bin, a container, or a cargo, or may be another object in a shelf, which is not particularly limited in the embodiment of the present application.
The identification information is used for representing the unique identification of the object to be carried. Optionally, the identification information of the object to be carried can be queried from the upper layer service system directly based on the position information of the object to be carried; the visual scanning device can acquire the identification information of the object to be carried, alternatively, the visual scanning device can be a camera, the image data of the object to be carried can be acquired through the camera, and the image data is processed and analyzed through the terminal device, so that the identification code on the object to be carried is extracted, and the identification information of the object to be carried is generated based on the identification code.
In some optional embodiments, the identification code on the object to be conveyed may be directly scanned and identified by the camera, so as to generate identification information of the object to be conveyed according to the identification result. Of course, other ways of generating the identification information of the object to be carried may be adopted, which is not particularly limited in the embodiment of the present application.
Step 204, determining category information of goods in the object to be transported according to the identification information.
The type information of the goods to be carried may include, but is not limited to, information such as a number, a name, etc. of the goods to be carried, in terminal equipment deployed with an upper layer service system, the type information of the goods to be carried in all objects to be carried may be entered in advance, and the entered information may be stored, and may be stored in a database. After the terminal equipment obtains the identification information of the object to be carried, the identification information can be searched in the database, so that the category information of the goods in the object to be carried is obtained.
It should be noted that, the type information of the goods in the object to be transported may be various, for example, the object to be transported includes various goods; the type information of the goods in the object to be transported may be only one type, for example, the object to be transported includes only one type of goods, or includes a plurality of types of goods of the same type.
Step 206, obtaining the target operation parameters of the cargo handling device corresponding to the category information from the database.
Wherein, the database stores the corresponding relation between the category information of a plurality of cargos and the operation parameters of the cargo handling device in advance.
In some alternative embodiments, the cargo handling device may include a robotic arm and a peripheral accessory, and the operating parameters of the cargo handling device may include a first operating parameter and a second operating parameter, where the first operating parameter is an operating parameter corresponding to the robotic arm and the second operating parameter is an operating parameter corresponding to the peripheral accessory.
Optionally, when generating the correspondence, as shown in fig. 3, fig. 3 is a flowchart of generating the correspondence according to an embodiment of the present application, where the method includes the following steps:
Step 302, obtaining category information of a plurality of cargos.
Step 304, acquiring a first operation parameter corresponding to the mechanical arm and a second operation parameter corresponding to the peripheral matched equipment when carrying each cargo.
Step 306, generating a corresponding relation based on the category information of each cargo, and the first operation parameter and the second operation parameter corresponding to the category information.
The obtained category information of the plurality of cargoes, the first operation parameters corresponding to the mechanical arm and the second operation parameters corresponding to the peripheral matched equipment may be historical data. The first operating parameters may include a speed v r and an acceleration a r of the mechanical arm when moving, and a speed v p and an acceleration a p of the mechanical arm when picking and placing goods, and the second operating parameters may include a speed v e and an acceleration v e of the peripheral equipment. Of course, the first operating parameter and the second operating parameter may include, in addition to two parameters, namely, a speed and an acceleration, other types of parameters, for example, a force parameter when the object to be carried is taken out, which is not particularly limited in the embodiment of the present application.
In addition, the corresponding relation can be directly generated based on the category information of each cargo, and the first operation parameter and the second operation parameter which correspond to the category information respectively; the first operation parameter and the second operation parameter may be mathematically calculated, and then a correspondence relationship may be generated based on the category information of each cargo and the calculation result corresponding to the category information.
For example, the first operation parameter and the second operation parameter may be first mathematically operated by using a preset function f to obtain an operation result M i, as shown in formula (1).
Mi＝f(vr,ar,vp,ap,ve,ve) (1)
The preset function f may be that a preset weight is adopted to perform a weighted operation on the first operation parameter and the second operation parameter, so as to obtain an operation result M i; i represents the number of category information of the goods, for example, there are n goods in total, and then there are n sets of operation results, which can be expressed as { M 1,M2,M3,...,Mn }.
In some alternative embodiments, the peripheral hardware may include at least one of a container storage rack, a conveyor line table, a container push mechanism, a conveyor line body, and a safety control mechanism. As shown in fig. 4, fig. 4 is a schematic diagram of a peripheral accessory device according to an embodiment of the present application.
The mechanical arm is used for carrying out taking operation on the object to be carried on the conveying line workbench A, and the object to be carried is placed to the target position through movement. The container storage shelf is used for storing objects to be transported.
The container receiving and pushing mechanism B is used for pushing the object to be carried to the claw of the mechanical arm when the object to be carried is located on the conveying line workbench, so that the mechanical arm can carry out the operation of taking the object to be carried. For example, when the robot arm needs to retrieve an object to be handled, the container needs to be pushed down onto the gripper of the robot arm by the container pushing mechanism B.
The conveying line body C is used for conveying the object to be conveyed onto the conveying line workbench B, that is, a device for providing the container input onto the conveying line workbench B.
The safety control mechanism (not shown) is used for controlling the mechanical arm to be in a static state when an abnormal condition occurs to the mechanical arm. Optionally, the safety control mechanism is a set of control logic to protect the cargo handling device and personnel. For example, to ensure protection of the cargo handling device when the arm is powered down, a brake device may be provided that brakes the actuator that is about to fall when the arm is powered down and the actuator in front of the arm falls.
In some optional embodiments, the corresponding relation between the operation result M i and the first operation parameter and the second operation parameter may be stored in advance, so that in an actual use process, after a specific M i is selected, the corresponding first operation parameter and the corresponding second operation parameter may be quickly determined based on the corresponding relation, so that the mechanical arm operates according to the first operation parameter, and the peripheral matched equipment operates according to the second operation parameter.
In other alternative embodiments, the cargo handling device may include robotic arms and peripheral hardware that may include container storage shelves and tables. The mechanical arm is used for carrying out the operation of taking the object to be carried on the workbench, the object to be carried is placed to the target position through movement, and the container storage shelf is used for storing the object to be carried.
In addition, optionally, the peripheral supporting device may further include a buffer location for storing a plurality of objects to be carried in the carrying process, so that the mechanical arm can take the objects to be carried from the buffer location. Of course, the peripheral accessory may also include other types of devices, which are not particularly limited in this embodiment of the present application.
In some alternative embodiments, when acquiring the target operation parameters of the cargo handling device corresponding to the category information from the database, as shown in fig. 5, fig. 5 is a flowchart for acquiring the target operation parameters according to an embodiment of the present application, where the method includes the following steps:
Step 502, obtaining the number of category information.
Step 504, if the number of the category information is one, the operation parameter of the cargo handling device corresponding to the category information is obtained from the database, and the operation parameter is taken as the target operation parameter.
If the number of the category information is plural, the operation parameters of the cargo handling device corresponding to each category information are acquired from the database, and the target operation parameters are determined from the plural operation parameters.
Wherein, because the object to be carried can include one or more kinds of goods, the number of the category information of the goods in the object to be carried, that is, the number of the categories of the goods to be carried, can be obtained first. Under the condition that only one kind of goods is included in the object to be carried, the operation parameters of the goods carrying device corresponding to the category information can be directly obtained according to the corresponding relation in the database, and the operation parameters are taken as the object operation parameters.
Under the condition that the object to be carried comprises multiple cargos, the operation parameters corresponding to the various types of information can be obtained according to the corresponding relation in the database, and the obtained operation parameters also comprise multiple operation parameters, so that the object operation parameters need to be determined from the multiple operation parameters, wherein the determined object operation parameters are operation parameters which can enable the damage rate of the cargo carrying device to be minimum when the cargo carrying device carries the cargos, and the selected object operation parameters can enable the safety and stability of the cargo carrying device to be higher.
Step 208, the target operation parameter is sent to the control device, and the control device is triggered to control the cargo handling device to handle the cargo to be handled to the target position according to the target operation parameter.
Wherein, after determining the target operating parameter of the cargo handling device, the terminal device may send the target operating parameter to the control device. Further, the control device may control the cargo handling device to handle the cargo to be handled to the target location with the target operating parameter.
In some alternative embodiments, when the target operation parameter is sent to the control device, a value corresponding to the target operation parameter may be directly sent to the control device; the operation result M i obtained by carrying out mathematical operation on the target operation parameter by adopting the preset function f can also be sent to the control device; the corresponding relationship between the target operation parameter and the identification information may be preset in the control device, and then the identification information corresponding to the target operation parameter may be sent to the control device, or alternatively, the identification information may be a number of the target operation parameter, for example, for the target operation parameter with the number of 1, the "1" may be directly sent to the control device.
In some alternative embodiments, after the goods in the object to be conveyed are conveyed and emptied, the operation parameters for conveying the object to be conveyed may be controlled to be restored to default values, where the default values may be manually preset, until a new goods category exists in the object to be conveyed, and then the corresponding target operation parameters are determined based on the above process.
In other alternative embodiments, after the triggering control device controls the cargo handling device to handle the cargo to be handled to the target location with the target operation parameter, the correspondence in the database may be updated and optimized, as shown in fig. 6, and fig. 6 is a flowchart for updating the correspondence according to the embodiment of the present application, where the method includes the following steps:
Step 602, calculating the damage rate of the goods in the object to be transported.
Step 604, if the damage rate of the cargo is greater than or equal to the preset damage rate threshold, reducing the operation parameters corresponding to the class information of the cargo, and updating the reduced operation parameters to the corresponding relations in the database.
Step 606, if the damage rate of the cargo is smaller than the preset damage rate threshold, increasing the operation parameters corresponding to the class information of the cargo, and updating the increased operation parameters to the corresponding relation in the database.
The damage rate of the goods in the object to be transported may be obtained through manual statistics, for example, after the goods are transported, the goods damaged in the object to be transported may be manually checked, so that the damage rate is obtained according to the number of the damaged goods and the total number of the goods to be transported.
The preset damage rate threshold value can be preset according to manual experience, and when the calculated damage rate of the goods is greater than or equal to the preset damage rate threshold value, the numerical value of the adopted target operation parameter is excessively large, the operation parameter corresponding to the type information of the goods needs to be reduced, and the operation parameter is updated to the corresponding relation in the database; when the calculated damage rate is smaller than a preset damage rate threshold value, the operation parameters corresponding to the category information of the goods are increased if the numerical value of the adopted target operation parameters is too small, and the increased operation parameters are updated to the corresponding relation in the database. Therefore, the efficiency of carrying the goods is improved while the safety of carrying the goods is ensured. When the operation parameters corresponding to the category information of the goods are reduced or increased, optionally, the preset reduced or increased numerical step size may be adopted to change the operation parameters.
On this basis, acquiring the target operating parameters of the cargo handling device corresponding to the category information from the database may include acquiring updated correspondence and determining the target operating parameters of the cargo handling device corresponding to the category information based on the updated correspondence. The process of determining the target operating parameter based on the updated correspondence may refer to the process of determining the target operating parameter in the foregoing embodiment, which is not described herein.
Embodiments of the apparatus corresponding to the foregoing method embodiments are described below.
The embodiment of the application also provides a cargo handling device 700 for executing the cargo handling method in the foregoing embodiment.
Specifically, as shown in fig. 7, the apparatus includes: a first acquisition module 701, a determination module 702, a second acquisition module 703 and a transmission module 704. In addition, the apparatus may include other more or fewer units/modules, such as a storage unit, a transmission unit, etc.
A first obtaining module 701, configured to obtain identification information of an object to be handled; the identification information is used for representing the unique identification of the object to be carried.
The determining module 702 is configured to determine category information of the cargo in the object to be transported according to the identification information.
A second obtaining module 703, configured to obtain, from the database, a target operation parameter of the cargo handling device corresponding to the category information; wherein, the database stores the corresponding relation between the category information of a plurality of cargos and the operation parameters of the cargo handling device in advance.
And the sending module 704 is used for sending the target operation parameters to the control device and triggering the control device to control the cargo handling device to handle the cargo to be handled to the target position according to the target operation parameters.
Optionally, in a specific implementation manner of the embodiment of the present application, the cargo handling device includes a mechanical arm and a peripheral supporting device, where the peripheral supporting device includes at least one of a container storage rack, a conveyor line workbench, a container receiving and pushing mechanism, a conveyor line body, and a safety control mechanism; the mechanical arm is used for carrying out the taking operation on the object to be carried on the conveyor line workbench and placing the object to be carried to a target position through movement; the container storage shelf is used for storing objects to be carried; the container receiving and pushing mechanism is used for pushing the object to be carried to the claw of the mechanical arm when the object to be carried is positioned on the conveyor line workbench, so that the mechanical arm can carry out the taking operation of the object to be carried; the conveying line body is used for conveying the object to be conveyed to the conveying line workbench; the safety control mechanism is used for controlling the mechanical arm to be in a static state when the mechanical arm is abnormal.
Optionally, in a specific implementation manner of the embodiment of the present application, the cargo handling device includes a mechanical arm and a peripheral accessory device, where the peripheral accessory device includes a container storage rack and a workbench; the mechanical arm is used for carrying out the operation of taking the object to be carried on the workbench and placing the object to be carried to the target position through movement; the container storage shelf is used for storing objects to be transported.
Optionally, in a specific implementation manner of the embodiment of the present application, the cargo handling device is further configured to obtain category information of a plurality of cargos; acquiring a first operation parameter corresponding to the mechanical arm and a second operation parameter corresponding to the peripheral matched equipment when carrying each cargo; and generating a corresponding relation based on the category information of each cargo and the first operation parameter and the second operation parameter which correspond to the category information respectively.
Optionally, in a specific implementation manner of the embodiment of the present application, the second obtaining module 703 is specifically configured to obtain the number of category information; if the number of the category information is one, acquiring the operation parameters of the cargo handling device corresponding to the category information from a database, and taking the operation parameters as target operation parameters; if the number of the category information is a plurality of, respectively acquiring the operation parameters of the cargo handling device corresponding to each category information from the database, and determining a target operation parameter from the plurality of operation parameters; the target operation parameter is one of a plurality of operation parameters, which can minimize the damage rate of the cargo handling device when the cargo handling device is handling the cargo to be handled.
Optionally, in a specific implementation manner of the embodiment of the present application, the cargo handling device is further configured to calculate a damage rate of a cargo in a target object to be handled; if the damage rate of the goods is greater than or equal to a preset damage rate threshold value, reducing the operation parameters corresponding to the category information of the goods, and updating the reduced operation parameters to the corresponding relation in the database; if the damage rate of the goods is smaller than the preset damage rate threshold value, the operation parameters corresponding to the category information of the goods are increased, and the increased operation parameters are updated to the corresponding relation in the database.
Optionally, in a specific implementation manner of the embodiment of the present application, the second obtaining module 703 is further configured to obtain an updated correspondence, and determine a target operation parameter of the cargo handling device corresponding to the category information based on the updated correspondence.
In a specific implementation, the embodiment of the present application further provides an electronic device, which may be a server in the foregoing embodiment, for implementing all or part of the steps of the foregoing cargo handling method.
Fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Comprising the following steps: at least one processor, memory and at least one interface, and may further comprise a communication bus for connecting these components.
Wherein the at least one processor may be a CPU or processing chip configured to read and execute the computer program instructions stored in the memory to enable the at least one processor to perform the method flows of the various embodiments described above.
The memory may be non-transitory memory (non-transitory memory), which may contain volatile memory, such as high-speed random access memory (Random Access Memory, RAM), or may include non-volatile memory, such as at least one disk memory.
At least one interface includes an input-output interface, and a communication interface, which may be a wired or wireless interface, to enable a communication connection between the electronic device and other devices. The input-output interface may be used to connect peripheral devices such as a display screen, a keyboard, etc.
In an embodiment of the present application, there is provided a computer device including a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
Acquiring identification information of an object to be carried; the identification information is used for representing the unique identification of the object to be carried; determining category information of goods in the object to be carried according to the identification information; acquiring target operation parameters of the cargo handling device corresponding to the category information from the database; wherein, the database stores the corresponding relation between the category information of a plurality of cargos and the operation parameters of the cargo handling device in advance; and sending the target operation parameters to the control device, and triggering the control device to control the cargo handling device to handle the cargo to be handled to the target position by the target operation parameters.
In the embodiment of the application, the cargo handling device comprises a mechanical arm and peripheral matched equipment, wherein the peripheral matched equipment comprises at least one of a container storage rack, a conveyor line workbench, a container connecting and pushing mechanism, a conveyor line body and a safety control mechanism; the mechanical arm is used for carrying out the taking operation on the object to be carried on the conveyor line workbench and placing the object to be carried to a target position through movement; the container storage shelf is used for storing objects to be carried; the container receiving and pushing mechanism is used for pushing the object to be carried to the claw of the mechanical arm when the object to be carried is positioned on the conveyor line workbench, so that the mechanical arm can carry out the taking operation of the object to be carried; the conveying line body is used for conveying the object to be conveyed to the conveying line workbench; the safety control mechanism is used for controlling the mechanical arm to be in a static state when the mechanical arm is abnormal.
In an embodiment of the application, a cargo handling device comprises a mechanical arm and peripheral matched equipment, wherein the peripheral matched equipment comprises a container storage rack and a workbench; the mechanical arm is used for carrying out the operation of taking the object to be carried on the workbench and placing the object to be carried to the target position through movement; the container storage shelf is used for storing objects to be transported.
In an embodiment of the present application, the processor when executing the computer program further implements the following steps:
acquiring category information of a plurality of cargoes; acquiring a first operation parameter corresponding to the mechanical arm and a second operation parameter corresponding to the peripheral matched equipment when carrying each cargo; and generating a corresponding relation based on the category information of each cargo and the first operation parameter and the second operation parameter which correspond to the category information respectively.
In an embodiment of the present application, the processor when executing the computer program further implements the following steps:
acquiring the quantity of category information; if the number of the category information is one, acquiring the operation parameters of the cargo handling device corresponding to the category information from a database, and taking the operation parameters as target operation parameters; if the number of the category information is a plurality of, respectively acquiring the operation parameters of the cargo handling device corresponding to each category information from the database, and determining a target operation parameter from the plurality of operation parameters; the target operation parameter is one of a plurality of operation parameters, which can minimize the damage rate of the cargo handling device when the cargo handling device is handling the cargo to be handled.
In an embodiment of the present application, the processor when executing the computer program further implements the following steps:
Calculating the damage rate of goods in the object to be transported; if the damage rate of the goods is greater than or equal to a preset damage rate threshold value, reducing the operation parameters corresponding to the category information of the goods, and updating the reduced operation parameters to the corresponding relation in the database; if the damage rate of the goods is smaller than the preset damage rate threshold value, the operation parameters corresponding to the category information of the goods are increased, and the increased operation parameters are updated to the corresponding relation in the database.
In an embodiment of the present application, the processor when executing the computer program further implements the following steps:
and acquiring the updated corresponding relation, and determining the target operation parameters of the cargo handling device corresponding to the category information based on the updated corresponding relation.
The implementation principle and technical effects of the computer device provided by the embodiment of the present application are similar to those of the above method embodiment, and are not described herein.
In some implementations, embodiments of the present application also provide a computer-readable storage medium having stored therein computer instructions for causing the computer to perform a method of cargo handling in the foregoing embodiments.
In addition, embodiments of the present application provide a computer program product for storing computer readable program instructions that, when executed by a processor, implement a method of handling goods according to the foregoing embodiments.
It is noted that in the present application, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments in part.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM).
Additionally, the computer-readable medium may even be paper or other suitable medium upon which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof.
In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
The above embodiments of the present invention do not limit the scope of the present invention.
Claims (10)
1. A method of cargo handling, characterized by being applied to terminal devices, the terminal devices being respectively connected to control means, the control means being connected to the cargo handling means, comprising:
acquiring identification information of an object to be carried; the identification information is used for representing the unique identification of the object to be carried;
Determining category information of goods in the object to be carried according to the identification information;
Acquiring target operation parameters of the cargo handling device corresponding to the category information from a database; wherein, the database stores the corresponding relation between the category information of a plurality of cargos and the operation parameters of the cargo handling device in advance;
And sending the target operation parameters to the control device, and triggering the control device to control the goods handling device to handle the goods to be handled to a target position according to the target operation parameters.
2. The method of claim 1, wherein the cargo handling device comprises a robotic arm and peripheral hardware comprising at least one of a container storage rack, a conveyor line table, a container push mechanism, a conveyor line body, and a safety control mechanism;
The mechanical arm is used for carrying out the operation of taking the object to be carried on the conveyor line workbench and placing the object to be carried to a target position through movement;
The container storage shelf is used for storing the objects to be carried;
the container receiving and pushing mechanism is used for pushing the object to be carried to the paw of the mechanical arm when the object to be carried is positioned on the conveying line workbench, so that the mechanical arm can carry out the taking operation on the object to be carried;
the conveying line body is used for conveying the object to be conveyed to the conveying line workbench;
The safety control mechanism is used for controlling the mechanical arm to be in a static state when the mechanical arm is in an abnormal condition.
3. The method of claim 1, wherein the cargo handling device comprises a robotic arm and peripheral hardware comprising a container storage rack and a work table;
The mechanical arm is used for carrying out the operation of taking the object to be carried on the workbench and placing the object to be carried to a target position through movement;
The container storage shelf is used for storing the objects to be carried.
4. A method of handling cargo according to claim 2 or 3, further comprising:
Acquiring category information of a plurality of cargoes;
Acquiring a first operation parameter corresponding to the mechanical arm and a second operation parameter corresponding to peripheral matched equipment when each cargo is carried, wherein the operation parameters of the cargo carrying device comprise the first operation parameter and the second operation parameter;
And generating the corresponding relation based on the category information of each cargo, and the first operation parameter and the second operation parameter which are respectively corresponding to the category information.
5. The method of claim 1, wherein the retrieving, from a database, the target operating parameter of the cargo handling device corresponding to the category information comprises:
acquiring the quantity of the category information;
if the number of the category information is one, acquiring the operation parameters of the cargo handling device corresponding to the category information from a database, and taking the operation parameters as the target operation parameters;
if the number of the category information is a plurality of, respectively acquiring the operation parameters of the cargo handling device corresponding to each category information from a database, and determining the target operation parameters from the plurality of operation parameters; the target operation parameter is an operation parameter which can enable the damage rate of the cargo handling device to be minimum when the cargo handling device is used for handling the cargo to be handled in the plurality of operation parameters.
6. The method of claim 1, further comprising, after said triggering said control means to control said cargo-handling device to handle said cargo to be handled to a target location at said target operating parameter:
calculating the damage rate of the goods in the object to be carried;
if the damage rate of the goods is greater than or equal to a preset damage rate threshold value, reducing the operation parameters corresponding to the category information of the goods, and updating the reduced operation parameters into the corresponding relation in the database;
If the damage rate of the goods is smaller than a preset damage rate threshold value, increasing the operation parameters corresponding to the category information of the goods, and updating the increased operation parameters to the corresponding relation in the database.
7. The method of claim 6, wherein the retrieving, from a database, the target operating parameter of the cargo handling device corresponding to the category information comprises:
and acquiring the updated corresponding relation, and determining the target operation parameters of the cargo handling device corresponding to the category information based on the updated corresponding relation.
8. A cargo handling device, comprising:
the first acquisition module is used for acquiring identification information of the object to be carried; the identification information is used for representing the unique identification of the object to be carried;
the determining module is used for determining the category information of the goods in the object to be carried according to the identification information;
The second acquisition module is used for acquiring target operation parameters of the cargo handling device corresponding to the category information from the database; wherein, the database stores the corresponding relation between the category information of a plurality of cargos and the operation parameters of the cargo handling device in advance;
And the sending module is used for sending the target operation parameters to the control device and triggering the control device to control the goods handling device to handle the goods to be handled to the target position by the target operation parameters.
9. An electronic device, comprising: a processor and a memory, wherein,
The memory is used for storing computer executable instructions;
the processor is configured to read the instructions from the memory and execute the instructions to implement the method of any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the storage medium stores computer program instructions,
When the computer reads the instructions, the method according to any of claims 1 to 7 is performed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211615196.6A CN118205851A (en) | 2022-12-15 | 2022-12-15 | Cargo handling method, device, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211615196.6A CN118205851A (en) | 2022-12-15 | 2022-12-15 | Cargo handling method, device, equipment and storage medium |
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| CN118205851A true CN118205851A (en) | 2024-06-18 |
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| CN202211615196.6A Pending CN118205851A (en) | 2022-12-15 | 2022-12-15 | Cargo handling method, device, equipment and storage medium |
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| Country | Link |
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| CN (1) | CN118205851A (en) |
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