WO2022068454A1

WO2022068454A1 - Material handling method, system and apparatus, and central management device

Info

Publication number: WO2022068454A1
Application number: PCT/CN2021/113328
Authority: WO
Inventors: 白寒; 贾永华; 吴永海; 李必勇
Original assignee: 杭州海康机器人技术有限公司
Priority date: 2020-09-30
Filing date: 2021-08-18
Publication date: 2022-04-07
Also published as: CN112150078A

Abstract

A material handling method, system and apparatus and a central management device, relating to the technical field of automation devices. The method comprises: obtaining attribute information of a material to be handled; determining at least one target handling device; according to the attribute information of the material and device information of the at least one target handling device, determining a handling position of each target handling device to handle the material; and on the basis of the handling position of each target handling device, controlling the at least one target handling device to handle the material at the position. The method reduces the requirement for the appearance structure of a handling device, enables a handling device of any appearance structure to be used in a process of material handling, and improves the flexibility in dispatching handling devices.

Description

Material handling method, system, device and central management equipment

This disclosure claims the priority of the Chinese patent application filed on September 30, 2020, with the application number of 202011063472.3 and the invention titled "Material Handling Method, System, Device and Central Management Equipment", the entire contents of which are incorporated herein by reference middle.

technical field

The present disclosure relates to the technical field of automation equipment, and in particular, to a material handling method, system, device and central management equipment.

Background technique

With the development of automation equipment, intelligent robots are more and more widely used in manufacturing, warehousing and logistics. For example, in manufacturing, materials to be processed are handled by handling robots. However, the materials involved in the manufacturing process may be various, and the size, shape or weight of different materials are different, which leads to the need to use different types of robots to handle the materials. Therefore, it is necessary to provide various types of handling robots. , resulting in waste of investment in handling robots.

In the related art, in order to reduce input waste caused by providing different types of handling robots, a plurality of robots are assembled to handle different materials. For example, magnets are arranged on the side panel of the handling robot. In response to material handling, several handling robots are assembled into a whole matching the material through magnets according to the size, shape and weight of the material to be handled, so as to realize Handling materials of different sizes, shapes and weights.

In the above-mentioned related art, since several handling robots need to be assembled into a whole, for any material, it is necessary to assemble a handling robot for handling materials according to the size, shape and weight of the material. The robot has high requirements on the shape and structure, which makes the scheduling method of the handling robot inflexible.

SUMMARY OF THE INVENTION

The present disclosure provides a material handling method, system, device and central management equipment, which improves the flexibility of scheduling handling equipment.

According to an aspect of the embodiments of the present disclosure, a material handling method is provided, including:

Acquiring attribute information of the material to be handled; and, determining at least one target handling device for handling the material;

According to the attribute information of the material and the equipment information of the at least one target handling equipment, determine the handling position where each target handling equipment handles the material;

Based on the transport position of each target transport device, the at least one target transport device is controlled to transport the material at the transport position of the target transport device.

According to another aspect of the embodiments of the present disclosure, a material handling system is provided, the system comprising: a central management device and a plurality of handling devices;

The central management device is used for acquiring attribute information of the material to be transported; and determining at least one target handling device for handling the material; a device based on the attribute information of the material and the at least one target handling device information, determine the handling position of each target handling equipment to handle the material; based on the handling position of each target handling equipment, control the at least one target handling equipment to handle the material at the handling position of the target handling equipment;

The plurality of handling devices are configured to be controlled by the central management device by the at least one target handling device, and the controlled at least one target handling device handles the material at the handling position of each target handling device.

According to another aspect of the embodiments of the present disclosure, there is provided a material handling device, the device comprising:

The acquisition module is used to acquire the attribute information of the material to be transported;

a first determining module, configured to determine at least one target handling device for handling the material;

a second determining module, configured to determine the handling position of each target handling device for handling the material according to the attribute information of the material and the device information of the at least one target handling device;

A control module, configured to control the at least one target handling device to handle the material at the handling location of the target handling device based on the handling position of each target handling device.

According to another aspect of the embodiments of the present disclosure, a central management device is provided, the central management device includes a processor and a memory, the memory stores at least one piece of program code, the at least one piece of program code is executed by the processor Load and execute the instructions to implement the material handling method according to the embodiment of the present disclosure.

According to another aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, wherein at least one piece of program code is stored in the computer-readable storage medium, and the at least one piece of program code is loaded and executed by a processor , to implement the instructions of the material handling method according to the embodiment of the present disclosure.

According to another aspect of the embodiment of the present disclosure, an application program is provided, when the program code in the application program is executed by the processor of the central management device, so as to realize the material handling method according to the embodiment of the present disclosure. instruction.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

In the embodiment of the present disclosure, at least one target handling device capable of handling the material is selected according to the attribute information of the material, and these target handling devices are controlled to handle the material at the corresponding handling position. In this way, in the process of handling the material, there is no need to assemble and handle the material. Therefore, the shape, size and other information of the handling equipment do not need to be considered, thereby reducing the requirements for the shape and structure of the handling equipment, so that the handling equipment of any shape structure can be It can be used in the process of material handling, which improves the flexibility of scheduling handling equipment.

It is to be understood that the foregoing general description and the following detailed description are exemplary only and do not limit the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a schematic diagram of a material handling system according to an exemplary embodiment;

FIG. 2 is a schematic diagram of a handling device according to an exemplary embodiment;

FIG. 3 is a flowchart of a material handling method according to an exemplary embodiment;

FIG. 4 is a flowchart of a material handling method according to an exemplary embodiment;

FIG. 5 is a flowchart of a material handling method according to an exemplary embodiment;

FIG. 6 is a flowchart of a material handling method according to an exemplary embodiment;

Fig. 7 is a schematic diagram showing a material handling according to an exemplary embodiment;

FIG. 8 is a schematic diagram of a material handling according to an exemplary embodiment;

FIG. 9 is a schematic diagram of a material handling according to an exemplary embodiment;

Fig. 10 is a schematic diagram showing a material handling according to an exemplary embodiment;

Figure 11 is a schematic diagram of a material handling according to an exemplary embodiment;

Fig. 12 is a block diagram of a material handling device according to an exemplary embodiment;

Fig. 13 is a schematic structural diagram of a central management device according to an exemplary embodiment.

Detailed ways

The description will now be made in detail of exemplary embodiments, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with some aspects of the invention as recited in the appended claims.

FIG. 1 is a schematic diagram of a material handling system according to an exemplary embodiment. As shown in Figure 1, the material handling system includes: a central management device and a plurality of handling devices.

The central management device is used for acquiring attribute information of the material to be transported; and determining at least one target handling device for handling the material; according to the attribute information of the material and the device information of the at least one target handling device, determining each A transport position where each target transport device transports the material; based on the transport position of each target transport device, control the at least one target transport device to transport the material at the transport position of the target transport device;

The plurality of handling equipments are used for being controlled by the central management equipment, and at least one controlled target handling equipment handles the material at the handling position of each target handling equipment.

Wherein, a first communication module is set on the central management device and the plurality of handling devices, and the central management device can perform data interaction with the plurality of handling devices through the first communication module. A second communication module is arranged on the plurality of handling devices, and data interaction is performed between the plurality of handling devices through the second communication module. Wherein, the first communication module and the second communication module are the same or different, which are not specifically limited in this embodiment of the present disclosure. For example, the first communication module and the second communication module are both WIFI (Wireless Fidelity, wireless fidelity technology), Bluetooth modules, and the like.

In this implementation manner, multiple handling devices communicate through a communication module, so that data interaction can be realized without connection. In this way, during the process of handling materials, the handling devices do not need to be connected together, so that the handling devices can be connected when handling materials. Not combined, so that the handling equipment of any shape structure can be used in the process of handling materials, and the flexibility of scheduling handling equipment is improved.

Optionally, the plurality of handling devices are the same handling device or different handling devices. In the embodiment of the present disclosure, the size, shape and form of the plurality of handling devices are not specifically limited. Among them, referring to FIG. 2 , FIG. 2 shows several handling equipments according to an exemplary embodiment. Each handling equipment includes walking drive, universal caster, lifting mechanism, translation mechanism, display screen, obstacle avoidance module, navigation module, etc. Optionally, the traveling drive is used to drive the handling equipment to move, and the traveling drive is any form of traveling drive, for example, the traveling drive is differential drive, omnidirectional differential drive, Mecanum wheel drive, steering gear and any In the embodiment of the present disclosure, the walking drive is not specifically limited. The universal caster is used to change the forward direction of the handling equipment. The lifting mechanism is used to control the lifting or lowering of the material being handled, and the lifting mechanism can control at least one handling device to ensure that the material is in the same horizontal position during the material handling process. The lifting mechanism is provided with a translation mechanism, and the translation mechanism is used to translate the material out after lifting or lowering the material. Wherein, the translation mechanism is any mechanism capable of translating materials. For example, the translation mechanism is a belt transfer mechanism, a roller transfer mechanism, a chain transfer mechanism, etc. In the embodiments of the present disclosure, the structure of the translation mechanism is not specifically limited . The display screen is used to display the working status of the current handling equipment, the handling route and other information.

The central management device is a terminal or a server. In response to the central management device being a terminal, the central management device is a mobile phone, a computer, a tablet computer, a wearable device, or the like. In response to the central management device being a server, and the central management device being an independent server, a server cluster composed of multiple servers, or a cloud server, etc., in the embodiments of the present disclosure, the central management device is not specifically limited.

In addition, because the material is transported by multiple handling devices, it is possible to move in any direction by the multiple handling devices, so that the handling material can realize omnidirectional walking, that is, straight travel, lateral movement, diagonal travel, and arbitrary curve travel. This is because the lifting mechanism of the handling equipment is equipped with a turntable, and a single handling equipment becomes a driving wheel that can rotate 360 degrees relative to the material. At this time, the handling equipment cluster becomes an omnidirectional translation handling equipment. Optionally, in response to the handling equipment adopting a differential travel drive structure, a turntable needs to be configured; in response to the handling equipment adopting an omnidirectional travel drive structure, such as a steering gear, a differential omnidirectional steering gear, a Mecanum travel drive, etc. The turntable does not have to be configured.

In some embodiments, the central management device is further configured to determine a plurality of handling clusters according to the attribute information of the material, and each handling cluster includes at least one handling device of different numbers; and determine the handling from the plurality of handling clusters A target handling cluster with the smallest number of devices; all handling devices in the target handling cluster are determined as the at least one target handling device.

In this implementation manner, the central management device determines at least one target handling device suitable for this handling from among the multiple handling devices by determining the attribute information of the material and the equipment information of the handling device, so that the central management device can select the at least one target handling device suitable for this handling from the multiple handling devices. Selecting the handling equipment that is more in line with the current material improves the accuracy of selecting handling equipment on the premise of ensuring the flexibility of selecting handling equipment.

In some embodiments, the central management device is further configured to determine a plurality of target quantities, where the target quantity is the quantity of the handling devices in the handling cluster; for each target quantity, the plurality of handling devices are divided into a plurality of handling devices Combinations, each combination of handling equipment includes the target quantity of handling equipment; according to the attribute information of the material, at least one handling cluster corresponding to the target quantity is determined from the multiple handling equipment combinations, wherein any two handling clusters in the handling cluster The distance between the transport positions of the equipment is smaller than the minimum safety gap, and the total weight that can be transported by the transport equipment cluster is greater than the material; the multiple transport clusters are determined based on at least one transport cluster corresponding to each target quantity.

In the embodiment of the present disclosure, the handling clusters are respectively determined according to the target quantity, so that the handling equipment can be freely combined, and different types of handling equipment can be combined, and the combination form of the handling equipment is more flexible.

In some embodiments, the central management device is further configured to, for at least one handling cluster corresponding to each target quantity, determine the distance between each handling device and the material in each handling cluster; determine the distance corresponding to each target quantity a first handling cluster to obtain the plurality of handling clusters, where the first handling cluster is the handling cluster with the smallest sum of distances between the handling equipment and the material in the at least one handling cluster; or,

The central management device is further configured to, for at least one handling cluster corresponding to each target quantity, determine the scheduling duration of each handling cluster, where the scheduling duration of the handling cluster is used by the handling equipment in the handling cluster from the current location to the material The longest duration is determined; the second transport cluster corresponding to each target quantity is determined, and the multiple transport clusters are obtained, and the second transport cluster is the transport cluster with the shortest scheduling duration among the at least one transport cluster.

In this implementation manner, the handling equipment closest to the material is determined from at least one handling cluster, thereby reducing unnecessary energy consumption of the handling equipment and saving the energy of the handling equipment. Alternatively, from at least one handling cluster, respectively, the handling equipment with the shortest time taken to reach the material is determined, thereby improving handling efficiency.

In some embodiments, the central management device is further configured to determine, according to the attribute information of the material, the bearing capacity required by each force-bearing key point of the material; obtain from the device information of the at least one target handling device The maximum bearing capacity of each target handling equipment; for the target handling equipment, select the target force key point from each force key point, and the bearing weight required by the target force key point is not greater than the maximum load capacity of the target handling equipment Bearing weight; determine the handling position of the target handling equipment based on the key force points of the target.

In this implementation manner, according to the bearing capacity required by each key point of force of the material, the target handling equipment matching the key point of force is determined, and then the handling position of the target handling equipment is determined, so that the handling of the target handling equipment is ensured. The location better matches the target handling equipment.

In some embodiments, the central management device is further configured to obtain the weight and shape of the material from the attribute information of the material; according to the shape of the material, determine the number of key stress points matching the shape; The weight of the material and the number of the key stress points, the stress point analysis of the material is carried out, and the bearing weight required for each key stress point is obtained.

In this implementation manner, the force point analysis of the material is carried out according to the attribute information of the material, which improves the accuracy of determining the key force point of the material and the bearing weight required for each force key point.

In some embodiments, the central management device is further configured to use the target force-bearing key point as the transportation position of the target transportation device; or,

The central management device is also used to use the ground position corresponding to the target force key point as the transport position of the target transport device.

In this implementation manner, the key point of force or the position of the bottom surface corresponding to the key point of force is used as the transport position of the target transport equipment, which enriches the determination form of the target transport position.

In some embodiments, the central management device is further configured to generate a first transportation task according to the transportation position of the at least one target transportation device; determine the first transportation device from the at least one target transportation device; The device sends the first handling task;

The first handling device is configured to receive a first handling task sent by the central management device; according to the handling position of each target handling device in the first handling task, for at least one second handling device in the at least one target handling device The equipment sends the handling subtask;

The at least one second handling device is configured to receive a handling subtask sent by the first handling device, and handle the material based on the handling subtask.

In this implementation manner, the central management device only needs to generate one first handling task, and by sending the first handling task to the first handling device, the first handling device controls at least one second handling device to carry out material handling, thereby reducing the need for material handling. It reduces the data processing pressure of the central management equipment.

In some embodiments, the central management device is further configured to, for each target handling device, generate a second handling task based on the handling position of the target handling device; and send the second handling to the target handling device Task;

The at least one target handling device is configured to receive the second handling task, and handle the material based on the second handling task.

In this implementation manner, the second handling task of each handling device is generated by the central management device, so that the handling device only needs to receive and execute the handling task, which reduces the data processing requirements of the handling device.

Optionally, the first handling equipment obtains the location information of the second handling equipment according to the equipment identification of the second handling equipment; or, the central management equipment obtains the equipment identification of the second handling equipment, and will obtain the equipment identification of the second handling equipment. Sent to the first handling equipment. In the embodiment of the present disclosure, the method for the first handling device to acquire the device identifier of the second handling device is not specifically limited.

Fig. 3 is a flow chart of a material handling method according to an exemplary embodiment. As shown in FIG. 3 , the traffic flow control method includes the following steps.

Step 301: Acquire attribute information of the material to be transported; and, determine at least one target transport device for transporting the material.

Step 302: According to the attribute information of the material and the equipment information of the at least one target handling equipment, determine the handling position where each target handling equipment handles the material.

Step 303: Based on the transport position of each target transport device, control the at least one target transport device to transport the material at the transport position of the target transport device.

In some embodiments, the determining at least one target handling device for handling the material includes:

Determine a plurality of handling clusters according to the attribute information of the material, and each handling cluster includes at least one handling equipment of different numbers;

determining a target handling cluster with the smallest number of handling equipment from the plurality of handling clusters;

All the handling devices in the target handling cluster are determined as the at least one target handling device.

In some embodiments, the multiple handling clusters are determined according to the attribute information of the material, including:

Determine multiple target quantities, the target quantity is the quantity of handling equipment in the handling cluster;

for each target quantity, dividing the plurality of handling equipment into a plurality of handling equipment combinations, each handling equipment combination including the handling equipment of the target quantity;

According to the attribute information of the material, at least one handling cluster corresponding to the target quantity is determined from the multiple handling equipment combinations, the distance between the handling positions of any two handling equipment in the handling cluster is less than the minimum safety gap, and the handling The total weight that the cluster can handle is greater than the weight of the material;

The plurality of transport clusters are determined based on at least one transport cluster corresponding to each target quantity.

In some embodiments, the determining of the plurality of transport clusters based on at least one transport cluster corresponding to each target quantity includes:

For at least one handling cluster corresponding to each target quantity, determine the distance between each handling device and the material in each handling cluster; determine the first handling cluster corresponding to each target quantity, and obtain the plurality of handling clusters, and the first handling cluster is obtained. A handling cluster is the handling cluster with the smallest sum of distances between the handling equipment and the material in the at least one handling cluster; or,

For at least one handling cluster corresponding to each target quantity, determine the scheduling duration of each handling cluster, and the scheduling duration of the handling cluster is the longest time taken by the handling equipment in the handling cluster from the current position to the material; The plurality of transport clusters are obtained from the second transport clusters corresponding to the target number, where the second transport clusters are transport clusters with the shortest scheduling duration among the at least one transport cluster.

In some embodiments, the determining, according to the attribute information of the material and the equipment information of the at least one target handling equipment, determines the handling position where each target handling equipment handles the material, including:

According to the attribute information of the material, determine the bearing weight required for each stress point of the material;

From the equipment information of the at least one target handling equipment, obtain the maximum bearing capacity of each target handling equipment;

For the target handling equipment, select the target force-bearing key point from each of the force-bearing key points, and the bearing weight required by the target force-bearing key point is not greater than the maximum bearing capacity of the target handling equipment;

Based on the key force point of the target, the carrying position of the target carrying equipment is determined.

In some embodiments, according to the attribute information of the material, the bearing weight required for each key stress point of the material is determined, including:

Obtain the weight and shape of the material from the attribute information of the material;

According to the shape of the material, determine the number of force key points matching the shape;

Based on the weight of the material and the number of the key stress points, the stress point analysis of the material is performed to obtain the bearing weight required by each key stress point.

In some embodiments, determining the handling position of the target handling equipment based on the target force key point, including:

The target force key point is used as the handling position of the target handling equipment; or,

The ground position corresponding to the target force key point is taken as the carrying position of the target carrying equipment.

In some embodiments, controlling the at least one target handling equipment to handle the material at the handling position of the target handling equipment based on the handling position of each target handling equipment includes:

generating a first handling task according to the handling position of the at least one target handling equipment;

determining a first handling device from the at least one target handling device;

Sending the first handling task to the first handling device, for the first handling device to carry out at least one second handling of at least one target handling device in the first handling task according to the handling position of each target handling device in the first handling task The device sends a handling subtask.

For each target handling equipment, based on the handling position of the target handling equipment, a second handling task is generated;

Send the second handling task to the target handling equipment, where the second task is used to instruct the target handling equipment to handle the material.

Fig. 4 is a flow chart of a material handling method according to an exemplary embodiment. As shown in Figure 4, the method includes the following steps.

Step 401: The central management device acquires attribute information of the material to be transported.

Wherein, the attribute information of the material to be transported includes information such as weight, shape, position coordinates and size of the material to be transported.

Optionally, the central management device receives the attribute information of the material input by the user. Correspondingly, the central manager directly or indirectly receives the attribute information input by the user. For example, the user sends attribute information of the material to be transported to the central management device through the terminal, and the central management device receives the attribute information sent by the terminal, and determines the attribute information as the attribute information of the material to be transported. Alternatively, an attribute information filling option is displayed in the central management device, and the central management device receives the attribute information input by the user through the attribute information filling option, and determines the received attribute information as the attribute information of the material to be transported.

Step 402: The central management device determines multiple handling clusters according to the attribute information of the material.

Wherein, each handling cluster includes at least one handling equipment in different numbers. In this step, the central management device respectively determines a plurality of handling clusters corresponding to different target quantities according to the attribute information of the material. The process is achieved through the following steps (1)-(3), including:

(1) The central management device determines a plurality of target quantities.

The target quantity is the quantity of handling equipment in the handling cluster. The target number is used for the central management device to divide the plurality of handling devices according to the target number. The target transport quantity is set and changed as required, and the target quantity is not specifically limited in this embodiment of the present disclosure. For example, the plurality of target numbers are 2, 3, 4, and so on, respectively.

(2) For each target quantity, the central management apparatus divides the plurality of handling apparatuses into a plurality of handling apparatus combinations, and each handling apparatus combination includes the target quantity of handling apparatuses.

In this step, the central management device selects a set of handling devices from a plurality of handling devices according to different quantities. For example, referring to FIG. 5 and FIG. 6 , the number of handling equipment is 2, 3 and 4 as an example for description. For each target quantity, the cooperative handling of different handling equipments under the target quantity is determined from multiple handling equipments. The combination.

Optionally, the central management device can randomly select a handling device corresponding to each target quantity from a plurality of handling devices. Alternatively, the central management device obtains the power of each of the plurality of transporting devices according to the device information of the plurality of transporting devices, and selects the transporting equipment whose remaining power is greater than the preset power from the plurality of transporting devices according to the power of each transporting device. equipment. Alternatively, the central management device obtains the current position coordinates of the plurality of handling devices according to the equipment information of the plurality of handling devices, and selects the one that is closer to the material to be transported from the plurality of handling devices according to the current position coordinates of the plurality of handling devices. Handling equipment. In the embodiment of the present disclosure, the method for the central management device to select the transport device set is not specifically limited.

Wherein, the equipment information of each handling equipment includes the bearing weight, shape, equipment identification and location information of the handling equipment, etc. In addition, for the equipment information of the plurality of transport devices, the central management device can also store the device identifiers of the plurality of transport devices in advance, and record the working status and power information of each transport device. When selecting the handling equipment, at least one handling equipment capable of performing work is determined from the plurality of handling equipment directly according to the equipment identification of the handling equipment stored in advance and other information of the handling equipment.

(3) The central management device determines at least one handling cluster corresponding to the target quantity from the multiple handling device combinations according to the attribute information of the material, and the distance between the handling positions of any two handling devices in the handling cluster is less than the minimum Safety clearance, and the total weight that the handling equipment cluster can handle is greater than the weight of the material.

Among them, the minimum safety gap is the minimum distance between AGV (Automated Guided Vehicle; Automatic Guided Vehicle) handling equipment to maintain safe operation. The minimum safety gap is set and modified as required, and in this embodiment of the present disclosure, the minimum safety gap is not specifically limited. For example, the minimum safety clearance is 1 cm, 2 cm, or 3 cm, or the like.

In this step, the central management device first determines whether each quantity of handling equipment can move freely during the material handling process. Correspondingly, the central management equipment determines the size of the handling equipment in each handling equipment combination from the equipment information of the handling equipment; and obtains the size of the material from the attribute information of the material, and determines that the handling equipment set can be used in the process of handling the material. No guarantee of minimum safety clearance. The size of the handling equipment is the rotation diameter of the handling equipment, that is, the diameter of the circle obtained by horizontally rotating the handling equipment for one circle with the geometric center of the handling equipment as the center, that is, the horizontal footprint of the handling equipment.

Among them, the central management equipment verifies whether the handling equipment can guarantee the minimum safety clearance according to different handling methods. For example, continue to refer to Figure 5, for any material, the current number of handling equipment is n; the bearing capacity of each handling equipment is T1, T2, T3, T4, ... Tn, etc. The weights are Tk, Tm, Tu, Tj, etc.; the dimensions of the handling equipment are DA1, DA2, DA3, DA4, ... DAn, etc., and the dimensions of the handling equipment selected are DAk, DAm, DAU, DAj, etc.; The distances from the handling equipment to the materials are D1, D2, D3, D4, ... Dn, etc. The distances from the selected handling equipment to the materials are respectively Dk, Dm, Du, Dj; the minimum safety clearance is B.

For the case where the number of handling equipment is 2, see Figure 7, the material is a rectangle, the handling equipment is located at both ends of the material, the dimensions of the handling equipment are DAk and DAm, the material length is L, and the minimum safety clearance is B. Half of the size of each handling equipment does not exceed half of the difference between the length of the material and the minimum safety gap, then the two handling equipment should satisfy 0.5*DAk<0.5*L-0.5*B, and, 0.5*DAm<0.5 *L-0.5*B.

For the case where the number of handling equipment is 3, see Fig. 8 or Fig. 9, the handling equipment is located at the position of the three top corners of the material, the dimensions of the handling equipment are DAk, DAm and DAu respectively, and the length of a right-angled side of the material is L, The length of the other right-angled side is W, and the minimum safety clearance is B. Half of the size of each handling equipment on each side does not exceed half of the difference between the length of the side and the minimum safety clearance, then the three handling equipment should satisfy 0.5*Dam+0.5*DAk<(W*W+L *L) ^{^} 0.5-B, and, 0.5*Dam+0.5*DAu<(W*W+L*L) ^{^} 0.5-B and, 0.5*DAk<0.5*L-0.5*B, and, 0.5*DAu <0.5*L-0.5*B.

For the case where the number of handling equipment is 4, see Figure 10, the material is a rectangle, the handling equipment is located at the four corners of the material, the dimensions of the handling equipment are DAk, DAm, DAu and DAj, and the length of the material is L , the width is W, then the sum of the dimensions of the two handling equipment corresponding to each side is less than the difference between the side length and the minimum safety clearance. Then the four handling equipment should satisfy 0.5*DAk+0.5*DAm<L-B, and, 0.5*DAk+0.5*DAu<W-B, and, 0.5*DAu+0.5*DAj<L-B, and, 0.5*DAj+0.5*DAm <W-B.

In some embodiments, for a strip material with a length of L, for the case where the number of handling equipment is 2, see FIG. The distance between the two handling equipment is not less than the minimum safety gap, then the two handling equipment should satisfy 0.5*DAk+0.5*DAm<L-B;

For the case where the number of handling equipment is 3, the dimensions of the handling equipment are DAk, DAm and DAu respectively, the material length is L, and the minimum safety clearance is B. The interval between every two handling equipment is not less than the minimum safety gap, then the three handling equipment should satisfy 0.5*Dam+0.5*DAk+DAu<L-2B.

For the case where the number of handling equipment is 4, the dimensions of the handling equipment are DAk, DAm, DAu and DAj respectively, the length of the material is L, and the interval between every two handling equipment is not less than the minimum safety gap, then the three handling equipment 0.5*Dam+0.5*DAk+DAu+DAj<L-3B should be satisfied.

In this step, in the central management device, the handling equipment corresponding to each quantity is determined to satisfy the condition that the quantity of handling equipment satisfies under the handling mode, and the total weight handled by each group of handling equipment that satisfies the condition is determined, for example, for In the case of two handling equipments, the bearing weights of the handling equipment are Tk and Tm respectively, then the total handling weight corresponding to this group of handling equipment is Tk+Tm; for the case of three handling equipments, the bearing weights of the handling equipment are Tk, Tm and Tu, the total handling weight corresponding to the handling equipment in this group is Tk+Tm+Tu; for the case of four handling equipment, the bearing weights of the handling equipment are Tk, Tm, Tu and Tj respectively, then the handling equipment in this group corresponds to The total handling weight is Tk+Tm+Tu+Tj, and so on.

It should be noted that, in response to no qualified handling equipment in any quantity, the handling method of the quantity under the handling method is invalid.

The central management equipment selects a handling cluster with a total load-bearing capacity greater than the material weight from multiple handling combinations that meet the minimum safety clearance. Correspondingly, the central management device determines the sum of the bearing weights of the handling equipment in the multiple handling combinations, so as to determine the bearing weight value and the handling combination that is not less than the weight of the material.

It should be noted that, the central management equipment first determines from the multiple handling equipment combinations that the distance between the handling positions of any two handling equipment is less than the minimum safety gap, and then determines that the total weight that can be handled by the handling equipment combination is greater than the material. The weight of the combination of handling equipment, at least one handling cluster corresponding to the target quantity is obtained; or, the central management device first determines the combination of handling equipment whose total weight can be handled by the combination of handling equipment is greater than the weight of the material, and then determines any two handling equipment combinations. The distance between the transport positions of the equipment is smaller than the minimum safety gap, and at least one transport cluster corresponding to the target quantity is obtained. In this embodiment of the present disclosure, the sequence is not specifically limited.

In the embodiment of the present disclosure, the handling cluster is determined according to the equipment information of the handling equipment and the attribute information of the material, so that the handling equipment can be freely combined, different types of handling equipment can be combined, and the combination of handling equipment is more flexible.

In addition, for the handling clusters corresponding to each target quantity, the central management device selects, from the handling clusters corresponding to the same target quantity, a set of handling clusters with the closest sum of the distances between the handling equipment and the material as the handling clusters corresponding to the target quantity. That is, for at least one handling cluster of each target quantity, the central management device determines the distance between each handling device and the material in each handling cluster; the handling cluster with the smallest sum of the distances between the handling equipment and the material is determined. The transport cluster corresponding to this number. Wherein, for at least one handling cluster corresponding to each target quantity, the central management device determines the distance between each handling device and the material in each handling cluster; determines the first handling cluster corresponding to each target quantity, and obtains the multiple A handling cluster, where the first handling cluster is a handling cluster with the smallest sum of distances between the handling equipment and the material in the at least one handling cluster.

For example, in the case of 2 transporters, select the transport cluster with the smallest Dk+Dm from the transport cluster as the transport cluster corresponding to the two transporters, and in the case of 3 transporters, select Dk+Dm+Du from the transport cluster The smallest handling cluster is used as the handling cluster corresponding to the three handling devices. For the case of 4 handling devices, the handling cluster with the smallest Dk+Dm+Du+Dj is selected as the handling cluster corresponding to the four handling devices. analogy. Among them, Dk, Dm, Du and Dj are the distances between the handling equipment and the material, respectively.

In this implementation manner, the central management equipment selects the handling equipment closest to the material, thereby reducing unnecessary energy consumption of the handling equipment and saving the energy of the handling equipment.

Or, for the handling clusters corresponding to each target quantity, the central management device selects, from the handling clusters corresponding to the same target quantity, a group of handling clusters in which all handling equipment reaches the material fastest as the handling cluster corresponding to this quantity. That is, for at least one handling cluster of each target quantity, determine the scheduling duration of each handling cluster, and the scheduling duration of the handling cluster is the longest time taken by the handling equipment in the handling cluster from the current position to the material; according to For the scheduling duration of each transport cluster, the transport cluster with the shortest scheduling duration is selected from the plurality of transport clusters. Among them, for at least one handling cluster corresponding to each target quantity, the central management device determines the scheduling duration of each handling cluster, and the scheduling duration of the handling cluster is the longest time used by the handling equipment in the handling cluster from the current location to the material duration; determining the second transport cluster corresponding to each target quantity, and obtaining the plurality of transport clusters, where the second transport cluster is the transport cluster with the shortest scheduling duration among the at least one transport cluster.

In this implementation manner, the central management device determines, from at least one transport cluster, the transport device with the shortest time taken to reach the material, thereby improving the transport efficiency.

It should be noted that the central management device also determines the plurality of transport device clusters according to different transport modes. Wherein, the transport mode is a transport mode set in advance in the terminal management device. Optionally, the conveying method is a parallel conveying method, a diffusion conveying method, or the like. In the embodiment of the present disclosure, the carrying manner is not specifically limited.

Optionally, the handling method is confirmed according to the shape of the material. For example, the shape of the material is a triangle, and the central management device determines that the material is handled in a diffused manner. Correspondingly, the handling equipment is spread at the three corners of the material; for another example, the material is in the shape of a long strip. shape, the central management equipment determines that the material handling method is a parallel handling method, and accordingly, the handling equipment is juxtaposed under the material for handling.

It should be noted that, in the process of confirming the material handling method, the central management device responds that the shape of the material is a rectangle, the terminal also determines the material handling method according to the aspect ratio of the rectangle, and responds to the material’s If the aspect ratio is less than the preset threshold, the central management device determines that the material is wider, and the diffused handling method is adopted; in response to the aspect ratio of the material not less than the preset threshold, the central management device determines that the material is a long strip, then Parallel transport is adopted.

Another point to be noted is that the shape of the material is the geometric shape of the material, or the shape of the material is a shape determined according to the geometric center of gravity of the material. In the embodiment of the present disclosure, the manner of determining the shape of the material is not specifically limited. For example, in response to the shape of the material being an irregular shape, the central management device determines the position of the center of gravity of the material according to the shape of the material, and determines the shape corresponding to the geometric center of gravity of the material according to the position of the center of gravity. Correspondingly, in this step, the central management device selects a set of conveying devices from a plurality of conveying devices according to the different quantities in the conveying manner.

Step 403: The central management device selects a target handling cluster with the smallest number of handling devices from the multiple handling clusters.

In this step, the central management device determines a target transportation cluster with the smallest number of transportation devices from the plurality of transportation clusters.

Optionally, the central management device first determines at least one handling cluster under each target quantity, and then selects the handling cluster with the smallest number from the at least one handling cluster; In the handling cluster, in response to the existence of two qualified handling devices, the two handling devices are directly determined as the handling cluster with the smallest number of handling devices; in response to the absence of the two qualified handling clusters, the central management device determines the qualified handling Three handling equipment, and so on.

Step 404: The central management device determines all the transportation devices in the target transportation cluster as the at least one target transportation device.

In this step, the central management device determines at least one handling device in the determined handling cluster as a target handling device for handling the material to be handled.

Step 405: The central management device determines, according to the attribute information of the material and the device information of the at least one target handling device, a handling position where each target handling device handles the material.

Wherein, the handling position is the position where the target handling equipment is when handling the material, the target handling position is the contact point where the target handling equipment is the material, or the target handling equipment is the bottom position where the target handling equipment is handling the material, etc. . In the embodiments of the present disclosure, this is not specifically limited. Correspondingly, the central management device uses the target force key point as the transport position of the target transport device; or, the central management device uses the ground position corresponding to the target force key point as the transport position of the target transport device.

In this implementation manner, the force key point or the bottom surface position corresponding to the force key point is used as the carrying position of the target carrying equipment, which enriches the determination form of the target carrying position.

Optionally, the central management device randomly divides at least one center of gravity to the at least one target handling device. Or, the central management device determines the position of each target handling device, and according to the position of each target management device, determines the center of gravity closest to the target handling device for the at least one target handling device. Alternatively, the central management device determines the load-bearing capacity of the at least one target handling device according to the device information of the at least one target management device, and divides the weight-matching center of gravity for the at least one target device according to the load-bearing capacity of the at least one target handling device.

Correspondingly, in a possible implementation manner, the central management device determines the shape of the material according to the attribute information of the material; and determines each target handling device according to the shape of the material and the device information of the plurality of handling devices. transport location. In this implementation manner, the handling position of each target handling equipment is determined by the shape of the material, which simplifies the process of determining the handling position of the handling equipment and improves the efficiency of handling and determining the handling position of the handling equipment.

In another possible implementation manner, the central management device divides the material according to the quantity of the at least one target handling device and the attribute information of the material to obtain the handling area of the material; transport location. In this implementation manner, by dividing the material into regions, the handling position of each handling device is made more precise.

Among them, the central management equipment divides the material into areas according to the attribute information of the material and the quantity of at least one target handling equipment, and obtains at least one handling area of the material, and one handling area corresponds to one target handling equipment; for each handling area, determine its The handling position of the corresponding target handling equipment in the handling area. For example, the central management device determines the bearing capacity required by each key stress point of the material according to the attribute information of the material; determines the target handling equipment that matches the bearing capacity, and completes the handling position as allocation. The process is achieved through the following steps (1)-(4), including:

(1) The central management device determines the bearing weight required by each key point of force of the material according to the attribute information of the material.

In this step, the central management device obtains the weight and shape of the material from the attribute information of the material, and analyzes the force point of the material according to the weight and shape of the material to obtain the required bearing capacity of each key force point. weight. This process is achieved through the following steps (1-1)-(1-3), including:

(1-1) The central management device obtains the weight and shape of the material from the attribute information of the material.

In this step, the central management device calls the attribute information of the material, and reads the weight and shape of the material from the attribute information.

(1-2) According to the shape of the material, the central management device determines the number of key stress points matching the shape.

In this step, according to the shape of the material, the central management device determines the quantity of the key force points from the corresponding relationship between the shape and the force key points. For example, if the shape of the material is a long bar, the number of the force key points is determined to be two; the shape of the material is a triangle, and the number of the force key points is determined to be three; the shape of the material is a rectangle, the number of the force key points is determined to be three; The number of stress key points is 4 and so on.

(1-3) Based on the weight of the material and the number of the key points of force, the central management equipment analyzes the point of force of the material to obtain the bearing weight required by each key point of force.

Among them, the central management equipment analyzes the force point of the material by any force analysis method. The central management device takes the quotient of the weight of the material and the number of the force-bearing points as the bearing weight required for each force-bearing key point.

(2) The central management device acquires the maximum load-bearing capacity of each target transportation device from the device information of the at least one target transportation device.

In this step, the central management device calls the device information of the at least one target transport device, and reads the maximum bearing capacity of each transport device from the device information.

(3) For the target handling equipment, the central management equipment selects the target force-bearing key point from each of the force-bearing key points, and the required bearing capacity of the target force-bearing key point is not greater than the maximum bearing capacity of the target handling equipment.

The central management device compares the bearing capacity required by each key force point with the bearing capacity of the target handling device, and determines, from the at least one target handling device, a target transportation device whose maximum bearing capacity is not less than the target force key point.

(4) The central management device determines the transportation position of the target transportation device based on the target force key point.

Step 406: The central management device controls the at least one target handling device to handle the material at the handling location of the target handling device based on the handling location of each target handling device.

Optionally, the central management device can directly control the at least one target handling device, and the central management device can also control other handling devices through one of the at least one target handling device.

Correspondingly, in a possible implementation manner, the central management device respectively sends the transport position to the at least one target transport device. The process is: for each target handling device, the central management device generates a second handling task based on the handling position of the target handling device. The central management device sends the second handling task to the target handling device, where the second task is used to instruct the target handling device to handle the material.

In another possible implementation manner, the central management device determines a first transportation device from the at least one target transportation device, and determines other target transportation devices as second transportation devices; the central management device determines the at least one transportation location Sending to the first handling equipment, and sending the equipment identification of the second handling equipment to the first handling equipment, and sending the handling position of the second handling equipment to each second handling equipment by the first handling equipment. The process is achieved through the following steps (1)-(3), including:

(1) The central management device generates a first transportation task according to the transportation position of the at least one target transportation device.

The handling task includes the starting coordinate position and the ending coordinate position of the material to be handled. In this step, the central management device determines the weight of the material, the coordinates of the starting position and the coordinates of the ending position, etc. according to the attribute information, plans a transport route according to the coordinates of the starting position and the ending position, and creates a first transport task.

(2) The central management apparatus determines the first conveying apparatus from the at least one target conveying apparatus

In this step, the central management device selects a first handling device from the at least one target handling device. Wherein, the first handling equipment is the main handling equipment in the handling group. Optionally, the central management device randomly selects a handling device from at least one target handling device as the first handling device; or, the central management device determines the power of each handling device in the at least one target handling device, Select the handling equipment with the highest electric power among the handling equipment, and determine the handling equipment with the highest electric power as the first handling equipment; The target handling equipment corresponding to the equipment identification of the specified type is regarded as the first handling equipment. In the embodiment of the present disclosure, the method for determining the first conveying device by the central management device is not specifically limited.

The central management device sends the transportation task to the first transportation device, so that the first transportation device divides transportation subtasks for at least one second transportation device according to the transportation task. The central manager issues the created handling task to the first handling device. The first handling device decomposes the received handling task into sub-tasks, and issues the sub-tasks to the second handling device. Among them, subtasks include lifting materials, moving materials, and lowering materials. Before each subtask starts, the first handling device sends the subtask to the second handling device, and correspondingly, the second handling device receives the handling subtask sent by the first handling device and executes the handling subtask.

It should be noted that the central management device creates a first transportation task after determining at least one target transportation device; or, the central management device creates a first transportation task before determining the at least one target transportation device; or, the central management device creates a first transportation task. Simultaneously determine at least one target handling device and create a first handling task. That is, in this embodiment of the present disclosure, the sequence of determining the target handling device and creating the first handling task is not specifically limited.

(3) The central management device sends the first transportation task to the first transportation device, so that the first transportation device can be used for the at least one target transportation device according to the transportation position of each target transportation device in the first transportation task. The at least one second handling device sends handling subtasks.

It should be noted that, in addition to the coordination of each sub-task, in the process of lifting, moving and other motion sub-tasks, a specific algorithm is used to ensure the consistency of actions between the various handling equipment, that is, to ensure that every time in the lifting process is guaranteed. On the point, the height of the lifting material of each handling equipment is the same. At the same time, in the process of moving materials by the handling equipment, the relative position between the handling equipment is kept unchanged through a specific formation keeping algorithm.

Fig. 12 is a block diagram of a material handling device according to an exemplary embodiment. The steps performed when the device is used to perform the above method, see FIG. 12 , the device includes:

an acquisition module 1201, used to acquire attribute information of the material to be transported;

a first determining module 1202, configured to determine at least one target handling device for handling the material;

The second determining module 1203 is configured to determine, according to the attribute information of the material and the device information of the at least one target handling device, the handling position where each target handling device handles the material;

The control module 1204 is configured to control the at least one target handling device to handle the material at the handling location of the target handling device based on the handling location of each target handling device.

In some embodiments, the first determining module 1202 includes:

a first determining unit, configured to determine a plurality of handling clusters according to the attribute information of the material, and each handling cluster includes at least one handling device of different numbers;

a first selection unit, configured to determine a target handling cluster with the smallest number of handling equipment from the plurality of handling clusters;

The second determining unit is configured to determine all the handling devices in the target handling cluster as the at least one target handling device.

In some embodiments, the first determining unit includes:

a first determination subunit, used for determining a plurality of target quantities, where the target quantity is the quantity of the handling equipment in the handling cluster;

Dividing subunits, for each target quantity, dividing the plurality of handling equipments into a plurality of handling equipment combinations, each handling equipment combination including the handling equipment of the target quantity;

The second determination sub-unit is configured to determine at least one handling cluster corresponding to the target quantity from the plurality of handling equipment combinations according to the attribute information of the material, and the distance between the handling positions of any two handling equipments in the handling cluster is less than the minimum safety clearance, and the total weight that the handling equipment cluster can handle is greater than the weight of the material;

The third determining subunit is configured to determine the plurality of transport clusters based on at least one transport cluster corresponding to each target quantity.

In some embodiments, the third determination subunit is configured to, for at least one handling cluster corresponding to each target quantity, determine the distance between each handling device and the material in each handling cluster; The first handling cluster is obtained, and the plurality of handling clusters are obtained, where the first handling cluster is the handling cluster with the smallest sum of distances between the handling equipment and the material in the at least one handling cluster; or,

The third determination sub-unit is used to determine, for at least one handling cluster corresponding to each target quantity, the scheduling duration of each handling cluster, where the scheduling duration of the handling cluster is used by the handling equipment in the handling cluster from the current location to the material The longest duration is determined; the second transport cluster corresponding to each target quantity is determined, and the multiple transport clusters are obtained, and the second transport cluster is the transport cluster with the shortest scheduling duration among the at least one transport cluster.

In some embodiments, the second determining module 1203 includes:

The third determination unit is used to determine the bearing weight required by each stress key point of the material according to the attribute information of the material;

an obtaining unit, configured to obtain the maximum bearing capacity of each target handling device from the device information of the at least one target handling device;

a second selection unit, configured to select a target force-bearing key point from each of the force-bearing key points for the target handling equipment, and the required load-bearing capacity of the target force-bearing key point is not greater than the maximum bearing capacity of the target handling equipment;

The fourth determining unit is configured to determine the carrying position of the target carrying equipment based on the target force key point.

In some embodiments, the third determining unit is configured to obtain the weight and shape of the material from the attribute information of the material; according to the shape of the material, determine the number of force key points matching the shape; The weight of the material and the number of the key stress points, the stress point analysis of the material is carried out, and the bearing weight required for each key stress point is obtained.

In some embodiments, the fourth determining unit is configured to use the target force-bearing key point as the handling position of the target handling equipment; or,

The fourth determining unit is configured to use the ground position corresponding to the target force-bearing key point as the transport position of the target transport equipment.

In some embodiments, the control module 1204 is configured to generate a first handling task according to the handling position of the at least one target handling equipment; determine a first handling equipment from the at least one target handling equipment; Sending the first handling task is used for the first handling device to send a handling subtask for at least one second handling device in the at least one target handling device according to the handling position of each target handling device in the first handling task.

In some embodiments, the control module 1204 is configured to, for each target handling equipment, generate a second handling task based on the handling position of the target handling equipment; send the second handling task to the target handling equipment, the second handling task The task is used to instruct the target handling equipment to handle the material.

It should be noted that: when the material handling device provided in the above-mentioned embodiment is used for material handling, only the division of the above-mentioned functional modules is used as an example. The internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the material handling device provided in the above embodiments and the material handling method embodiments belong to the same concept, and the specific implementation process thereof is detailed in the method embodiments, which will not be repeated here.

FIG. 13 shows a structural block diagram of a central management device 1300 provided by an exemplary embodiment of the present invention. The central management device 1300 can be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, the standard audio layer 3 of the moving picture expert compression), MP4 (Moving Picture Experts Group Audio Layer IV, the moving picture expert compression standard audio layer IV) Standard Audio Layer 4) Player, Laptop or Desktop. The central management device 1300 may also be called user equipment, portable terminal, laptop terminal, desktop terminal, and the like by other names.

Generally, the central management device 1300 includes: a processor 1301 and a memory 1302 .

The processor 1301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1301 can use at least one hardware form among DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), and PLA (Programmable Logic Array, programmable logic array). accomplish. The processor 1301 may also include a main processor and a coprocessor. The main processor is a processor used to process data in the wake-up state, also called CPU (Central Processing Unit, central processing unit); the coprocessor is A low-power processor for processing data in a standby state. In some embodiments, the processor 1301 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is responsible for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor 1301 may further include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.

Memory 1302 may include one or more computer-readable storage media, which may be non-transitory. Memory 1302 may also include high-speed random access memory, as well as non-volatile memory, such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1302 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 1301 to implement the material handling provided by the method embodiments in this application. method.

In some embodiments, the central management device 1300 may also optionally include: a peripheral device interface 1303 and at least one peripheral device. The processor 1301, the memory 1302 and the peripheral device interface 1303 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 1303 through a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 1304 , a touch display screen 1305 , a camera 1306 , an audio circuit 1307 , a positioning component 1308 and a power supply 1309 .

The peripheral device interface 1303 may be used to connect at least one peripheral device related to I/O (Input/Output) to the processor 1301 and the memory 1302 . In some embodiments, processor 1301, memory 1302, and peripherals interface 1303 are integrated on the same chip or circuit board; in some other embodiments, any one of processor 1301, memory 1302, and peripherals interface 1303 or The two can be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The radio frequency circuit 1304 is used for receiving and transmitting RF (Radio Frequency, radio frequency) signals, also called electromagnetic signals. The radio frequency circuit 1304 communicates with communication networks and other communication devices via electromagnetic signals. The radio frequency circuit 1304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, radio frequency circuitry 1304 includes an antenna system, an RF transceiver, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and the like. The radio frequency circuit 1304 may communicate with other control devices through at least one wireless communication protocol. The wireless communication protocols include, but are not limited to, metropolitan area networks, mobile communication networks of various generations (2G, 3G, 4G and 5G), wireless local area networks and/or WiFi (Wireless Fidelity, wireless fidelity) networks. In some embodiments, the radio frequency circuit 1304 may further include a circuit related to NFC (Near Field Communication, short-range wireless communication), which is not limited in this application.

The display screen 1305 is used to display UI (User Interface, user interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 1305 is a touch display screen, the display screen 1305 also has the ability to acquire touch signals on or above the surface of the display screen 1305 . The touch signal may be input to the processor 1301 as a control signal for processing. At this time, the display screen 1305 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, there may be one display screen 1305, which is provided on the front panel of the central management device 1300; in other embodiments, there may be at least two display screens 1305, which are respectively provided on different surfaces or in the form of the central management device 1300. Folding design; in still other embodiments, the display screen 1305 may be a flexible display screen disposed on a curved or folded surface of the central management device 1300 . Even, the display screen 1305 can also be set as a non-rectangular irregular figure, that is, a special-shaped screen. The display screen 1305 can be prepared by using materials such as LCD (Liquid Crystal Display, liquid crystal display), OLED (Organic Light-Emitting Diode, organic light emitting diode).

The camera assembly 1306 is used to capture images or video. Optionally, the camera assembly 1306 includes a front camera and a rear camera. Usually, the front camera is arranged on the front panel of the control device, and the rear camera is arranged on the back of the control device. In some embodiments, there are at least two rear cameras, which are any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, so as to realize the fusion of the main camera and the depth-of-field camera to realize the background blur function, the main camera It is integrated with the wide-angle camera to achieve panoramic shooting and VR (Virtual Reality, virtual reality) shooting functions or other integrated shooting functions. In some embodiments, the camera assembly 1306 may also include a flash. The flash can be a single color temperature flash or a dual color temperature flash. Dual color temperature flash refers to the combination of warm light flash and cold light flash, which can be used for light compensation under different color temperatures.

Audio circuitry 1307 may include a microphone and speakers. The microphone is used to collect the sound waves of the user and the environment, convert the sound waves into electrical signals, and input them to the processor 1301 for processing, or to the radio frequency circuit 1304 to realize voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively disposed in different parts of the central management device 1300 . The microphone may also be an array microphone or an omnidirectional collection microphone. The speaker is used to convert the electrical signal from the processor 1301 or the radio frequency circuit 1304 into sound waves. The loudspeaker can be a traditional thin-film loudspeaker or a piezoelectric ceramic loudspeaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert electrical signals into sound waves audible to humans, but also convert electrical signals into sound waves inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 1307 may also include a headphone jack.

The positioning component 1308 is used to locate the current geographic location of the central management device 1300 to implement navigation or LBS (Location Based Service). The positioning component 1308 may be a positioning component based on the GPS (Global Positioning System, global positioning system) of the United States, the Beidou system of China, the Grenas system of Russia, or the Galileo system of the European Union.

The power supply 1309 is used to power various components in the central management device 1300 . The power source 1309 may be alternating current, direct current, disposable batteries, or rechargeable batteries. When the power source 1309 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology.

In some embodiments, the central management device 1300 also includes one or more sensors 1310 . The one or more sensors 1310 include, but are not limited to, an acceleration sensor 1311 , a gyro sensor 1312 , a pressure sensor 1313 , a fingerprint sensor 1314 , an optical sensor 1315 and a proximity sensor 1316 .

The acceleration sensor 1311 can detect the magnitude of acceleration on the three coordinate axes of the coordinate system established by the central management device 1300 . For example, the acceleration sensor 1311 can be used to detect the components of the gravitational acceleration on the three coordinate axes. The processor 1301 may control the touch display screen 1305 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 1311 . The acceleration sensor 1311 can also be used for game or user movement data collection.

The gyroscope sensor 1312 can detect the body direction and rotation angle of the central management device 1300 , and the gyroscope sensor 1312 can cooperate with the acceleration sensor 1311 to collect 3D actions of the user on the central management device 1300 . The processor 1301 can implement the following functions according to the data collected by the gyro sensor 1312: motion sensing (such as changing the UI according to the user's tilt operation), image stabilization during shooting, game control, and inertial navigation.

The pressure sensor 1313 may be disposed on the side frame of the central management device 1300 and/or the lower layer of the touch display screen 1305 . When the pressure sensor 1313 is disposed on the side frame of the central management device 1300, the user's holding signal of the central management device 1300 can be detected, and the processor 1301 can perform left and right hand recognition or quick operation according to the holding signal collected by the pressure sensor 1313. When the pressure sensor 1313 is disposed on the lower layer of the touch display screen 1305, the processor 1301 controls the operability controls on the UI interface according to the user's pressure operation on the touch display screen 1305. The operability controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

The fingerprint sensor 1314 is used to collect the user's fingerprint, and the processor 1301 identifies the user's identity according to the fingerprint collected by the fingerprint sensor 1314, or the fingerprint sensor 1314 identifies the user's identity according to the collected fingerprint. When the user's identity is identified as a trusted identity, the processor 1301 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 1314 may be provided on the front, back, or side of the central management device 1300. When the central management device 1300 is provided with physical buttons or a manufacturer's logo, the fingerprint sensor 1314 may be integrated with the physical buttons or the manufacturer's logo.

Optical sensor 1315 is used to collect ambient light intensity. In one embodiment, the processor 1301 may control the display brightness of the touch display screen 1305 according to the ambient light intensity collected by the optical sensor 1315 . Specifically, when the ambient light intensity is high, the display brightness of the touch display screen 1305 is increased; when the ambient light intensity is low, the display brightness of the touch display screen 1305 is decreased. In another embodiment, the processor 1301 may also dynamically adjust the shooting parameters of the camera assembly 1306 according to the ambient light intensity collected by the optical sensor 1315 .

Proximity sensor 1316, also called a distance sensor, is typically provided on the front panel of central management device 1300. The proximity sensor 1316 is used to collect the distance between the user and the front of the central management device 1300 . In one embodiment, when the proximity sensor 1316 detects that the distance between the user and the front of the central management device 1300 gradually decreases, the processor 1301 controls the touch display screen 1305 to switch from the bright screen state to the off screen state; when the proximity sensor 1301 When 1316 detects that the distance between the user and the front of the central management device 1300 gradually increases, the processor 1301 controls the touch display screen 1305 to switch from the off-screen state to the bright-screen state.

Those skilled in the art can understand that the structure shown in FIG. 13 does not constitute a limitation on the central management device 1300, and may include more or less components than the one shown, or combine some components, or adopt different component arrangements .

In an exemplary embodiment, a computer-readable storage medium is also provided. The computer-readable storage medium stores at least one piece of program code, and at least one piece of program code is loaded and executed by a processor, so as to realize the material handling in the above-mentioned embodiment. method. The computer-readable storage medium may be a memory. For example, the computer-readable storage medium can be ROM (Read-Only Memory, read-only memory), RAM (Random Access Memory, random access memory), CD-ROM (Compact Disc Read-Only Memory, compact disc read-only memory) storage), magnetic tapes, floppy disks, and optical data storage devices, etc.

In an embodiment of the present disclosure, a computer program product is also provided, wherein at least one piece of program code is stored in the computer program product, and the at least one piece of program code is loaded and executed by a processor, so as to realize the material handling described in the implementation of the present disclosure method.

Regarding the apparatus in the above-mentioned embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments of the method, and will not be described in detail here.

It should be understood that the present invention is not limited to the precise structures described above and illustrated in the accompanying drawings and that various modifications and changes may be made without departing from its scope. The scope of the present invention is limited only by the appended claims.

Claims

A material handling method, characterized in that the method comprises:

Acquiring attribute information of the material to be handled; and, determining at least one target handling device for handling the material;

According to the attribute information of the material and the equipment information of the at least one target handling equipment, determine the handling position where each target handling equipment handles the material;

Based on the transport position of each target transport device, the at least one target transport device is controlled to transport the material at the transport position of the target transport device.
The method according to claim 1, wherein the determining at least one target handling equipment for handling the material comprises:

Determine a plurality of handling clusters according to the attribute information of the material, and each handling cluster includes at least one handling device of different numbers;

determining a target handling cluster with the smallest number of handling equipment from the plurality of handling clusters;

All the handling devices in the target handling cluster are determined as the at least one target handling device.
The method according to claim 2, wherein the determining a plurality of handling clusters according to the attribute information of the material comprises:

determining a plurality of target quantities, where the target quantity is the quantity of the handling equipment in the handling cluster;

for each target quantity, dividing the plurality of handling equipment into a plurality of handling equipment combinations, each handling equipment combination including the target quantity of handling equipment;

According to the attribute information of the material, at least one handling cluster corresponding to the target quantity is determined from the multiple handling device combinations, and the distance between the handling positions of any two handling devices in the handling cluster is less than the minimum safety gap , and the total weight that the handling cluster can handle is greater than the weight of the material;

The plurality of transport clusters are determined based on at least one transport cluster corresponding to each target quantity.
The method according to claim 3, wherein the determining the plurality of transport clusters based on at least one transport cluster corresponding to each target quantity comprises:

For at least one handling cluster corresponding to each target quantity, determine the distance between each handling device and the material in each handling cluster; determine the first handling cluster corresponding to each target quantity, and obtain the plurality of handling clusters. The first handling cluster is the handling cluster with the smallest sum of distances between the handling equipment and the material in the at least one handling cluster; or,

For at least one handling cluster corresponding to each target quantity, determine the scheduling duration of each handling cluster, where the scheduling duration of the handling cluster is the longest time taken by the handling equipment in the handling cluster from the current position to the material; A second handling cluster corresponding to each target quantity is determined to obtain the plurality of handling clusters, where the second handling cluster is the handling cluster with the shortest scheduling duration among the at least one handling cluster.
The method according to claim 1, wherein the determining, according to the attribute information of the material and the equipment information of the at least one target handling equipment, determines the handling position where each target handling equipment handles the material, comprising:

According to the attribute information of the material, determine the bearing weight required by each stress key point of the material;

From the equipment information of the at least one target handling equipment, obtain the maximum bearing capacity of each target handling equipment;

For the target handling equipment, select a target force-bearing key point from each of the force-bearing key points, and the required bearing capacity of the target force-bearing key point is not greater than the maximum bearing capacity of the target handling equipment;

Based on the target force key point, the carrying position of the target carrying equipment is determined.
The method according to claim 5, wherein the determining, according to the attribute information of the material, the bearing weight required for each stress key point of the material, comprising:

Obtain the weight and shape of the material from the attribute information of the material;

According to the shape of the material, determine the number of force key points matching the shape;

Based on the weight of the material and the number of the force-bearing key points, a force-bearing point analysis is performed on the material to obtain the bearing weight required for each force-bearing key point.
The method according to claim 5, wherein the determining the transport position of the target transport equipment based on the target force key point comprises:

The target force key point is used as the carrying position of the target carrying equipment; or,

The ground position corresponding to the target force key point is used as the carrying position of the target carrying equipment.
The method according to claim 1, wherein the controlling the at least one target handling equipment to handle the material at the handling position of the target handling equipment based on the handling position of each target handling equipment comprises: :

generating a first handling task according to the handling position of the at least one target handling equipment;

determining a first handling device from the at least one target handling device;

Send the first handling task to the first handling device, so that the first handling device can perform the handling of the first handling device for the at least one target handling device according to the handling position of each target handling device in the first handling task. At least one second handling device sends handling subtasks.
The method according to claim 1, wherein the controlling the at least one target handling equipment to handle the material at the handling position of the target handling equipment based on the handling position of each target handling equipment comprises: :

For each target handling device, generating a second handling task based on the handling position of the target handling device;

Send the second handling task to the target handling equipment, where the second task is used to instruct the target handling equipment to handle the material.
A material handling system, characterized in that the system comprises: a central management device and a plurality of handling devices;

The central management device is used for acquiring attribute information of the material to be transported; and determining at least one target handling device for handling the material; a device based on the attribute information of the material and the at least one target handling device information, determine the handling position of each target handling equipment to handle the material; based on the handling position of each target handling equipment, control the at least one target handling equipment to handle the material at the handling position of the target handling equipment;

The plurality of handling equipments are used for being controlled by the central management equipment, and at least one controlled target handling equipment handles the material at the handling position of each target handling equipment.
The system according to claim 10, wherein the central management device is further configured to determine a plurality of handling clusters according to the attribute information of the material, and each handling cluster includes a different number of at least one handling device; A target handling cluster with the smallest number of handling devices is determined from the plurality of handling clusters; and all handling devices in the target handling cluster are determined as the at least one target handling device.
The system according to claim 11, wherein the central management device is further configured to determine a plurality of target quantities, and the target quantity is the quantity of the handling equipment in the handling cluster; for each target quantity, the Multiple handling equipment is divided into multiple handling equipment combinations, each handling equipment combination includes the target quantity of handling equipment; according to the attribute information of the material, determine the target quantity corresponding to the multiple handling equipment combinations. At least one handling cluster, the distance between the handling positions of any two handling devices in the handling cluster is less than the minimum safety gap, and the total weight that can be handled by the handling device cluster is greater than the weight of the material; based on each The at least one transport cluster corresponding to the target number is determined, and the multiple transport clusters are determined.
The system according to claim 12, wherein the central management device is further configured to, for at least one handling cluster of each target quantity, determine the distance between each handling device and the material in each handling cluster; Determine the first handling cluster corresponding to each target quantity, and obtain the plurality of handling clusters, where the first handling cluster is the handling cluster with the smallest sum of distances between handling equipment and materials in the at least one handling cluster; or ,

The central management device is further configured to, for at least one handling cluster corresponding to each target quantity, determine the scheduling duration of each handling cluster, where the scheduling duration of the handling cluster is the distance from the current position to the destination of the handling equipment in the handling cluster. The longest duration used by the material; the second transport cluster corresponding to each target quantity is determined to obtain the plurality of transport clusters, and the second transport cluster is the transport cluster with the shortest scheduling duration among the at least one transport cluster.
The system according to claim 10, characterized in that, the central management device is further configured to determine, according to the attribute information of the material, the bearing weight required for each key stress point of the material; In the equipment information of at least one target handling equipment, the maximum bearing capacity of each target handling equipment is obtained; for the target handling equipment, a target force-bearing key point is selected from each of the target force-bearing key points, and the target force-bearing key point is selected. The required bearing capacity is not greater than the maximum bearing capacity of the target handling equipment; based on the target force bearing key points, the handling position of the target handling equipment is determined.
The system according to claim 14, wherein the central management device is further configured to obtain the weight and shape of the material from the attribute information of the material; The number of force-bearing key points whose shapes are matched; based on the weight of the material and the number of force-bearing key points, the material is subjected to force-bearing point analysis to obtain the required bearing weight of each force-bearing key point.
The system according to claim 14, wherein the central management device is further configured to use the target force-bearing key point as the transportation position of the target transportation device; or,

The central management device is further configured to use the ground position corresponding to the target force-bearing key point as the transport position of the target transport device.
The system according to claim 10, wherein the central management device is further configured to generate a first transportation task according to the transportation position of the at least one target transportation device; determine from the at least one target transportation device a first handling device; sending the first handling task to the first handling device;

The first handling equipment is configured to receive a first handling task sent by the central management equipment; according to the handling position of each target handling equipment in the first handling task, at least one of the at least one target handling equipment is A second handling device sends handling subtasks;

The at least one second handling device is configured to receive a handling subtask sent by the first handling device, and handle the material based on the handling subtask.
The system according to claim 10, wherein the central management device is further configured to, for each target transportation device, generate a second transportation task based on the transportation position of the target transportation device; The device sends the second handling task;

The at least one target handling device is configured to receive the second handling task, and handle the material based on the second handling task.
The system according to claim 10, wherein a communication module is provided on each handling device, and data interaction is performed between the plurality of handling devices through the communication module.
A material handling device, characterized in that the device comprises:

The acquisition module is used to acquire the attribute information of the material to be transported;

a first determining module, configured to determine at least one target handling device for handling the material;

a second determining module, configured to determine the handling position of each target handling device for handling the material according to the attribute information of the material and the device information of the at least one target handling device;

A control module, configured to control the at least one target handling device to handle the material at the handling location of the target handling device based on the handling position of each target handling device.
The apparatus according to claim 20, wherein the first determining module comprises:

a first determining unit, configured to determine a plurality of handling clusters according to the attribute information of the material, and each handling cluster includes at least one handling device of different numbers;

a first selection unit, configured to determine a target handling cluster with the smallest number of handling equipment from the plurality of handling clusters;

The second determining unit is configured to determine all the handling devices in the target handling cluster as the at least one target handling device.
The apparatus according to claim 21, wherein the first determining unit comprises:

a first determination subunit, used for determining a plurality of target quantities, where the target quantity is the quantity of the handling equipment in the handling cluster;

dividing subunits for dividing the plurality of handling equipment into a plurality of handling equipment combinations for each target quantity, each handling equipment combination including the target quantity of handling equipment;

The second determination sub-unit is configured to determine, according to the attribute information of the material, at least one handling cluster corresponding to the target quantity from the multiple handling device combinations, and the handling positions of any two handling devices in the handling cluster The distance between them is less than the minimum safety gap, and the total weight that the handling cluster can handle is greater than the weight of the material;

The third determination subunit is configured to determine the plurality of transportation clusters based on at least one transportation cluster corresponding to each target quantity.
The device according to claim 22, wherein the third determining subunit is configured to, for at least one handling cluster corresponding to each target quantity, determine the difference between each handling device and the material in each handling cluster. distance; determine the first handling cluster corresponding to each target quantity, and obtain the plurality of handling clusters, where the first handling cluster is the handling cluster with the smallest sum of distances between handling equipment and materials in the at least one handling cluster ;or,

The third determination subunit is used to determine the scheduling duration of each transport cluster for at least one transport cluster corresponding to each target quantity, where the scheduling duration of the transport cluster is the distance from the current position of the transport equipment in the transport cluster to the destination of the transport cluster. The longest duration used by the material; determine the second handling cluster corresponding to each target quantity, and obtain the plurality of handling clusters, where the second handling cluster is the handling cluster with the shortest scheduling duration among the at least one handling cluster.
The apparatus according to claim 20, wherein the second determining module comprises:

a third determining unit, configured to determine the bearing weight required by each stress key point of the material according to the attribute information of the material;

an obtaining unit, configured to obtain the maximum bearing capacity of each target handling device from the device information of the at least one target handling device;

The second selection unit is configured to, for the target handling equipment, select a target force-bearing key point from each of the force-bearing key points, and the required bearing capacity of the target force-bearing key point is not greater than the maximum load-bearing capacity of the target handling equipment Bearing weight;

The fourth determining unit is configured to determine the carrying position of the target carrying equipment based on the target force-bearing key point.
The device according to claim 24, wherein the third determining unit is configured to obtain the weight and shape of the material from the attribute information of the material; The number of force-bearing key points whose shapes are matched; based on the weight of the material and the number of the force-bearing key points, a force-bearing point analysis is performed on the material to obtain the required bearing weight of each force-bearing key point.
The device according to claim 24, wherein the fourth determining unit is configured to use the target force-bearing key point as the transport position of the target transport equipment; or,

The fourth determining unit is configured to use the ground position corresponding to the target force-bearing key point as the transport position of the target transport device.
The apparatus according to claim 20, wherein the control module is configured to generate a first handling task according to the handling position of the at least one target handling equipment; and determine the first handling task from the at least one target handling equipment Handling equipment; sending the first handling task to the first handling equipment, for the first handling equipment to handle for the at least one target according to the handling position of each target handling equipment in the first handling task At least one second handling device of the devices sends a handling subtask.
The apparatus according to claim 20, wherein the control module is configured to, for each target handling device, generate a second handling task based on the handling position of the target handling device; send a second handling task to the target handling device; The second handling task is used to instruct the target handling equipment to handle the material.
A central management device, characterized in that the central management device includes a processor and a memory, the memory stores at least one piece of program code, and the at least one piece of program code is loaded and executed by the processor, so as to realize the Instructions for a material handling method as claimed in any one of claims 1 to 9.
A computer-readable storage medium, wherein the computer-readable storage medium is applied to a terminal, and at least one piece of program code is stored in the computer-readable storage medium, and the at least one piece of program code is loaded and executed by a processor In order to realize the steps in the material handling method according to any one of claims 1 to 9.