Material grabbing machine control method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of material grabbing machine control, and discloses a material grabbing machine control method and device, electronic equipment and a storage medium. According to the method, current track information and current area information of all working areas are obtained, and work task information and current material grabbing machine information are obtained, the material grabbing machine information comprises a material grabbing machine state and a material grabbing machine type, the task type of a to-be-executed task is determined based on the work task information, a material grabbing machine with the current material grabbing machine state being a preset material grabbing machine state, the current material grabbing machine type corresponding to the task type is determined as a target material grabbing machine, and the material grabbing machine is used for grabbing materials and transporting the materials. According to the current track information, the current area information and the work task information, tasks are allocated to the target material grabbing machine, a target task of the target material grabbing machine is obtained, and the target material grabbing machine is controlled to execute the target task; the control method of the material grabbing machine is more practical, more accurate and more efficient.

Description

Technical Field

[0001] The present application relates to the field of gripper control technology, and in particular to a gripper control method, device, electronic equipment and storage medium. Background Art

[0002] With the rapid development of industrial automation and intelligence, modern manufacturing has an increasingly urgent need to improve operating efficiency, optimize resource allocation and improve working conditions. It is urgent to use intelligent material handling equipment to optimize traditional warehousing operations. However, in the actual use of intelligent material handling equipment in factories, the contradictions in warehousing operations have become increasingly prominent, mainly including the following problems:

[0003] 1. Safety is difficult to ensure. Since the operation path of the intelligent material grabbing equipment is not fixed, and when the intelligent material grabbing equipment that moves on the ground is used for inbound and outbound operations, it is difficult to avoid the operators entering and exiting the operation area, which poses a great safety hazard to personnel.

[0004] Second, management is difficult. In the actual operation process, not only will the appearance of ground workers interrupt the working material grabbing equipment, but multiple ground material grabbing equipment may also interfere with each other, making the requirements for operation management and equipment scheduling high and management difficult.

[0005] 3. Long development cycle. Due to the diversity and complexity of the factory operating environment, the intelligent material handling equipment needs to be developed with various operating conditions in mind and undergo a long period of testing and adjustment to ensure that it can operate stably and safely under various operating conditions, resulting in a long development cycle.

[0006] In response to the above problems, this scheme proposes a new control method for the grabber, which uses tracks to standardize the operating path of the grabber, simplifies the operating environment of the grabber, reduces operating emergencies, clarifies the operating area of ​​the grabber, reduces safety hazards, facilitates operation management, and shortens the development cycle.

[0007] It should be noted that the above content only provides background technical information related to the present application and does not necessarily constitute prior art. Summary of the invention

[0008] In view of the shortcomings of the prior art mentioned above, the present application provides a grabber control method, device, electronic device and storage medium to standardize the operation path of the grabber equipment, simplify the operating environment of the grabber equipment, reduce operating emergencies, clarify the operating area of ​​the grabber, reduce safety hazards, and facilitate operation management.

[0009] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0010] According to one aspect of an embodiment of the present application, a grabber control method is provided, comprising: obtaining current track information and current area information of each working area, and obtaining work task information and current grabber information, wherein the grabber information includes a grabber state and a grabber type; determining a task type of a task to be executed based on the work task information, and determining a grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type as a target grabber, wherein the grabber is used to grab materials and transport materials; assigning tasks to the target grabber according to the current track information, the current area information and the work task information to obtain a target task of the target grabber; and controlling the target grabber to perform the target task.

[0011] In one embodiment of the present application, based on the aforementioned scheme, determining the task type of the task to be executed based on the work task information includes: extracting keywords from the work task information to obtain target keywords; and determining the task type of the task to be executed based on the target keywords.

[0012] In one embodiment of the present application, based on the aforementioned scheme, a grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type is determined as a target grabber, including: matching the current grabber state with the preset grabber state to obtain a first matching result; matching the current grabber type with the grabber type corresponding to the task type to obtain a second matching result; determining an initial grabber based on the first matching result and the second matching result; determining an initial distance based on a task starting point and a current grabber position, wherein the work task information includes the task starting point, and the grabber information includes a grabber position; sorting the initial grabbers according to the initial distance, and determining the target grabber according to the sorting result.

[0013] In one embodiment of the present application, based on the aforementioned scheme, tasks are assigned to the target grabber according to the current track information, the current area information and the work task information to obtain the target task of the target grabber, including: determining the target starting point, target end point and target task amount of the target grabber according to the current area information and the work task information; determining the target path of the target grabber according to the current track information, the target starting point and the target end point; determining the target task based on the target path and the target task amount.

[0014] In one embodiment of the present application, based on the aforementioned scheme, the target grabber is controlled to perform the target task, including: obtaining the current moment position and the next moment position of the target grabber; determining the steering angle of the target grabber based on the current moment position and the next moment position; and controlling the target grabber to turn based on the steering angle through a track direction conversion device.

[0015] In one embodiment of the present application, based on the aforementioned scheme, before obtaining the current track information and the current area information of each working area, the method also includes: obtaining work scene information; dividing the work scene into areas according to the work scene information to obtain multiple working areas, wherein the working areas include a warehousing area, a warehousing area and a standby area; performing path planning based on the working areas and the work scene information to obtain a track planning result; and installing the grabber track according to the track planning result.

[0016] In one embodiment of the present application, based on the aforementioned scheme, after controlling the target grabber to execute the target task, the method further includes: detecting whether the target grabber has a task to be executed; if it is detected that the target grabber does not have the task to be executed, controlling the target grabber to travel to the waiting area; if it is detected that the target grabber has the task to be executed, controlling the target grabber to travel to the starting point corresponding to the task to be executed.

[0017] According to one aspect of an embodiment of the present application, a grabber control device is provided, comprising: an acquisition module, used to acquire current track information and current area information of each working area, and to acquire work task information and current grabber information, wherein the grabber information includes a grabber state and a grabber type; a determination module, used to determine the task type of a task to be executed based on the work task information, and to determine a grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type as a target grabber, wherein the grabber is used to grab materials and transport materials; an allocation module, used to allocate tasks to the target grabber according to the current track information, the current area information and the work task information, and obtain a target task of the target grabber; and a control module, used to control the target grabber to perform the target task.

[0018] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements a grabber control method as described in any one of the above embodiments.

[0019] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is enabled to execute the material gripper control method as described in any one of the above embodiments.

[0020] Beneficial effects of the present application: The present application obtains the current track information and the current area information of each working area, and obtains the work task information and the current grabber information, wherein the grabber information includes the grabber status and the grabber type. By partitioning the working track, the grabber only performs the specified operations in the different working areas, avoiding mutual interference between grabbers during operation, facilitating operation management, and achieving a balance between safety and operation efficiency; determining the task type of the task to be executed based on the work task information, and determining the grabber whose current grabber status is the preset grabber status and whose current grabber type corresponds to the task type as the target grabber, wherein the grabber is used to grab and transport materials; assigning tasks to the target grabber according to the current track information, the current area information and the work task information, and obtaining the target task of the target grabber; controlling the target grabber to perform the target task; using the track to standardize the operation path of the grabber equipment, simplifying the operation environment of the grabber equipment, reducing operation emergencies, clarifying the operation area of ​​the grabber, reducing safety hazards, and making operation management more convenient, thereby achieving the effects of improving operation safety, reducing management difficulty, and shortening the development cycle.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0023] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application;

[0024] Figure 2 is a flow chart of a method for controlling a material grabber shown in an exemplary embodiment of the present application;

[0025] Figure 3 is a schematic diagram of the area division result of the material grabber control method shown in an exemplary embodiment of the present application;

[0026] Figure 4 is a flow chart of a method for controlling a material grabber according to another exemplary embodiment of the present application;

[0027] Figure 5 is a block diagram of a material handling machine control device shown in an exemplary embodiment of the present application;

[0028] Figure 6 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] The following will describe the implementation methods of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, not for limiting the scope of protection of the present application.

[0030] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present application in a schematic manner, and therefore the illustrations only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0031] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0032] First of all, it should be noted that a grabber is a mechanical device used for material handling. It has the advantages of being fast, efficient, accurate, safe and reliable. It is widely used in various factories, agricultural production and processing fields, such as textile mills, steel mills, food processing plants, pharmaceutical manufacturers, cosmetics manufacturers, etc. A grabber is a device that can automatically handle materials. It senses the presence and position of materials through sensors installed on the equipment, and then transfers the materials from one location to another through an automated arm. Depending on different application scenarios and material characteristics, there are many types and configurations of grabbers, such as oil-electric dual-power grabbers, fixed grabbers, mobile grabbers, etc.

[0033] Figure 1 It is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application.

[0034] Reference Figure 1As shown, the system architecture may include a data acquisition device 101 and a computer device 102. The computer device 102 may be at least one of a desktop graphics processing unit (GPU) computer, a GPU computing cluster, a neural network computer, etc. The data acquisition device 101 is used to collect the current state data of the target vehicle. In this embodiment, the data acquisition device 101 obtains the above data and provides it to the computer device 102 for processing. Relevant technicians can use the computer device 102 to perform semantic analysis on the voice data input by the user, determine the target field corresponding to the voice data according to the semantic analysis result, match the target field with the preset field once, obtain a first matching result, determine a candidate voice from the feedback voice set based on the first matching result, the feedback voice set includes feedback voices corresponding to multiple preset fields, perform fault judgment on the target vehicle according to the current state data, determine the current fault data, perform a second matching on the current fault data and the vehicle fault data corresponding to the candidate voice, obtain a second matching result, determine the target voice from the candidate voice based on the second matching result, and respond to the voice data based on the target voice to complete the control of the material grabber. It should be noted that the data acquisition device 101 and the computer device 102 provided in this embodiment are merely examples and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0035] It should be noted that the material gripper control method provided in the embodiment of the present application is generally executed by the computer device 102 , and accordingly, the material gripper control device is generally disposed in the computer device 102 .

[0036] Figure 2 is a flow chart of a method for controlling a material grabber according to an exemplary embodiment of the present invention. The method for controlling a material grabber can be executed by a computing and processing device. The computing and processing device can be Figure 1 The computer device 102 shown in FIG. Figure 2 As shown, the material grabber control method at least includes steps S210 to S240, which are described in detail as follows:

[0037] In step S210, the current track information and the current area information of each working area are obtained, and the work task information and the current material grabber information are obtained.

[0038] In one embodiment of the present application, the process before obtaining the current track information and the current area information of each work area includes the following steps: obtaining the work scene information; dividing the work scene into regions according to the work scene information to obtain multiple work areas, wherein the work area includes a storage area, a storage area, and a standby area; performing path planning based on the work area and the work scene information to obtain a track planning result; installing the grabber track according to the track planning result. The grabber is used to grab and transport materials.

[0039] In this embodiment, path planning is performed based on the work area and work scene information, and the process of obtaining the track planning result includes the following steps: determining the position of each work area according to the work scene information, performing path planning according to the position of each work area and the size of the grabber, and obtaining a planned track path, so as to connect each work area through the planned track path; determining the planned track path with the shortest path as the track planning result.

[0040] In one embodiment of the present application, work task information and current grabber information are obtained, wherein the grabber information includes grabber status, grabber position and grabber type. The grabber status includes standby status, operating status and fault status, and the grabber type corresponds to the task type and is used to grab and transport different materials.

[0041] In step S220, the task type of the task to be executed is determined based on the work task information, and a grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type is determined as a target grabber.

[0042] In one embodiment of the present application, the process of determining the task type of the task to be performed based on the work task information includes the following steps: extracting keywords from the work task information to obtain target keywords; and determining the task type of the task to be performed based on the target keywords.

[0043] In this embodiment, the work task information includes the task starting point, task end point, task total amount and task information. Keyword extraction is performed on the work task information to obtain the target keyword; the task type, task total amount, task starting point and task end point of the task to be executed are determined based on the target keyword. For example, if the work task information is "transport 50 scrap steels from the temporary storage area to the finished product warehouse", then after keyword extraction, it can be determined that the total task amount of the task to be executed is "50", the task type is "transporting scrap steel", the task starting point is "temporary storage area", and the task end point is "finished product warehouse". It should be noted that the work task information in this embodiment is only for example, and the work task information can be defined according to actual needs, and it is not necessary to follow the above example form.

[0044] In one embodiment of the present application, the process of determining a grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to a task type as a target grabber includes the following steps: matching the current grabber state with the preset grabber state to obtain a first matching result; matching the current grabber type with the grabber type corresponding to the task type to obtain a second matching result; determining an initial grabber based on the first matching result and the second matching result; determining an initial distance according to a task starting point and a current grabber position, wherein the work task information includes a task starting point and the grabber information includes a grabber position; sorting the initial grabbers according to the initial distance, and determining a target grabber according to the sorting result. Preferably, the preset grabber state can be a standby state, i.e., an idle state. By determining a grabber whose current grabber type corresponds to a task type, whose current grabber state is in accordance with a preset grabber state, and whose current grabber position is close to the initial distance of the task starting point as a target grabber, it not only meets the requirements of the grabber, but also improves the speed and efficiency of the grabber in grabbing and transporting materials.

[0045] In one embodiment of the present application, the process after determining the initial distance based on the task starting point and the current grabber position also includes the following steps: determining the total task amount based on the current area information and work task information; determining the required number of target grabbers based on the total task amount and the standard capacity corresponding to the current grabber type; if the required number is greater than the initial number of the initial grabbers, the initial number is determined as the target number of the target grabbers; if the required number is less than or equal to the initial number of the initial grabbers, the required number is determined as the target number of the target grabbers; sorting the initial grabbers in ascending order according to the initial distance, and determining the target grabbers with the grabbers corresponding to the target number before sorting.

[0046] In step S230, tasks are assigned to the target grabber according to the current track information, the current area information and the work task information to obtain the target task of the target grabber.

[0047] In one embodiment of the present application, the target starting point, target end point and target task amount of the target grabber are determined based on the current area information and work task information; the target path of the target grabber is determined based on the current track information, the target starting point and the target end point; and the target task is determined based on the target path and the target task amount.

[0048] In this embodiment, the process of determining the target starting point, target end point and target task volume of the target grabber based on the current area information and work task information includes the following steps: determining the total task volume, task starting point and task end point based on the work task information, determining the total material volume, material location and material placement position corresponding to the task to be executed based on the current area information, and combining the total material volume, material location and material placement position with the total task volume, task starting point and task end point to obtain the target task volume, target starting point and target end point.

[0049] In this embodiment, the process of determining the target path of the target grabber based on the current track information, the target starting point and the target end point includes the following steps: obtaining the current track information of the tracks corresponding to the target starting point and the target end point, and determining the track state of the corresponding tracks based on the current track information; if the track state is an idle state, that is, there is no grabber from the target starting point to the target end point, then the corresponding track corresponding to the idle state is determined as the target track, and the target path of the target grabber is determined based on the target track.

[0050] In this embodiment, if the target track number of the target track is greater than the target track number of the target grabber, the relative distance of each target track to the target starting point or target end point is calculated respectively, and the target tracks are sorted according to the relative distance, and the target track with the smallest relative distance is determined as the final target track.

[0051] In this embodiment, if the target number of target grabbers is greater than the target number of tracks, the first time corresponding to the first grabber grabbing the target material from the target starting point and transporting the target material to the preset middle position is calculated, and the second time corresponding to the second grabber grabbing the target material from the preset middle position and transporting the target material to the target end point is calculated, wherein the first time is equal to the second time, and the target grabber includes a first grabber and a second grabber. Among them, the first grabber places the target material at the preset middle position so that the second grabber corresponding to the first grabber grabs the target material from the preset middle position. Preferably, the first grabber directly places the target material on the second grabber corresponding to the first grabber. It can be understood that the first grabber and the second grabber corresponding to the first grabber are on the same track.

[0052] In this embodiment, the process of determining the target task based on the target path and the target task volume includes the following steps: determining the target starting point, target end point and target track of the target task based on the target path, determining the target task number for each target grabber to perform the target task based on the target task volume and the standard capacity corresponding to the current grabber type and the target number of target grabbers, combining the target path and the target task number to obtain the target task of the target grabber.

[0053] In step S240, the target gripper is controlled to perform the target task.

[0054] In one embodiment of the present application, the current position and the next position of the target grabber are obtained; the steering angle of the target grabber is determined based on the current position and the next position; and the target grabber is controlled to turn based on the steering angle through a track direction conversion device.

[0055] In one embodiment of the present application, the process after controlling the target grabber to execute the target task includes the following steps: detecting whether the target grabber has a task to be executed; if it is detected that the target grabber has no task to be executed, controlling the target grabber to move to a waiting area; if it is detected that the target grabber has a task to be executed, controlling the target grabber to move to the starting point corresponding to the task to be executed.

[0056] In one embodiment of the present application, the task priority of the target task is determined based on the work task information, the execution order of the target tasks is determined according to the task priority, and the target tasks are executed respectively according to the execution order.

[0057] In this embodiment, if the task priorities of the target tasks are the same, the receiving time of the target grabber receiving the target tasks is counted, and the execution order of the target tasks is determined according to the order of the receiving time.

[0058] In one embodiment of the present application, the grabber track is distributed in the finished product storage area and production area of ​​the factory, and the track can be divided into a storage area, a storage area, a standby area and a maintenance area, namely a standby area, to meet the needs of the grabber to perform operations such as finished product storage and finished product loading and unloading. In addition, a grabber track direction conversion device is provided at the boundary of the track partition to enable the grabber to travel between tracks in different areas. Figure 3 , Figure 3 It is a schematic diagram of the area division result of the grabber control method shown in an exemplary embodiment of the present application.

[0059] Figure 4 FIG. 1 is a flow chart of a method for controlling a material handling machine according to another exemplary embodiment of the present invention. Figure 4 As shown, the operation process of the rail grabber in and out of the warehouse includes at least steps S1 to S5, which are described in detail as follows:

[0060] In step S1, the gripper system receives work task information and determines the task type and requirements of the task to be performed according to the work task information.

[0061] In step S2, according to the current state of each grabber on the track, a grabber to perform the task, ie, a target grabber, is selected, and a target task of the track operation is planned for the target grabber.

[0062] In step S3, the grabber that receives the target task undergoes task processing, obtains the target task requirements, operates the track direction conversion device according to the requirements, and drives to the track entry / exit operation area planned by the system.

[0063] In step S4, according to the target task requirements, the grabber drives to the vicinity of the target finished material, stably grabs the target finished material, and then drives to the vicinity of the target storage location of the finished product warehouse to complete the warehousing operation or drives to the vicinity of the target loading location to complete the outbound operation.

[0064] In step S5, after the grabber completes the target task, it operates the track direction conversion device according to the system planning and demand, and drives to the track standby area or the next work task area.

[0065] By adding a travel track for the grabber, the travel path of the grabber is fixed on the track, and the body of the grabber can only move back and forth on the track. The operation mode of the grabber in and out of the warehouse is optimized, the operation path of the grabber is standardized, the operation environment of in and out of the warehouse is simplified, and the effect of improving operation safety, reducing management difficulty, and shortening the development cycle is achieved.

[0066] This application obtains the current track information and the current area information of each work area, and obtains the work task information and the current grabber information, wherein the grabber information includes the grabber state and the grabber type, determines the task type of the task to be executed based on the work task information, and determines the grabber whose current grabber state is the preset grabber state and whose current grabber type corresponds to the task type as the target grabber, wherein the grabber is used to grab and transport materials, assigns tasks to the target grabber according to the current track information, the current area information and the work task information, obtains the target task of the target grabber, and controls the target grabber to execute the target task. The following effects can be achieved:

[0067] 1) High safety. After the factory uses the rail grabber for in-and-out storage operations, the operating path of the grabber body is fixed and it only moves along the laid track. Operators entering the storage operation area do not walk close to the track unless necessary, which can avoid personnel safety accidents caused by the operation of the intelligent grabber, greatly improving safety. In addition, the driving path of the rail grabber is fixed on the track, reducing the possibility of conflict with ground operators during operation, achieving a balance between safety and operating efficiency, and greatly improving operation management efficiency.

[0068] 2) High management efficiency. The rail-mounted material grabber is used to perform the in-and-out warehouse operations in different areas. The operations of multiple material grabbers do not interfere with each other, which increases the operating efficiency and reduces the difficulty of scheduling.

[0069] 3) High development efficiency. The method of rail-driven operation of the material grabber avoids the interruption of the material grabber operation by ground workers. The method of partitioned operation of the rail-driven material grabber avoids the interference between multiple machines, simplifies the working environment, greatly reduces the difficulty of equipment development, shortens the development cycle, and improves development efficiency.

[0070] Figure 5 is a block diagram of a material handling machine control device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 The implementation environment shown in the figure is specifically configured in the computer device 102. The device can also be applied to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applied.

[0071] like Figure 5 As shown, the exemplary material gripper control device includes: an acquisition module 510 , a determination module 520 , an allocation module 530 and a control module 540 .

[0072] Among them, the acquisition module 510 is used to obtain the current track information and the current area information of each working area, and to obtain the work task information and the current grabber information, wherein the grabber information includes the grabber state and the grabber type; the determination module 520 is used to determine the task type of the task to be executed based on the work task information, and determine the grabber whose current grabber state is the preset grabber state and whose current grabber type corresponds to the task type as the target grabber, wherein the grabber is used to grab materials and transport materials; the allocation module 530 is used to allocate tasks to the target grabber according to the current track information, the current area information and the work task information, and obtain the target task of the target grabber; the control module 540 is used to control the target grabber to perform the target task.

[0073] It should be noted that the material grabber control device provided in the above embodiment and the material grabber control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment and will not be repeated here. In practical applications, the material grabber control device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0074] An embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the electronic device implements the grabber control method provided in the above-mentioned embodiments.

[0075] Figure 6 The structure diagram of the computer system suitable for implementing the electronic device of the embodiment of the present application is shown. It should be noted that: Figure 6 The computer system 600 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0076] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603, such as executing the methods provided in the above-mentioned various embodiments. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, the ROM 602 and the RAM 603 are connected to each other through the bus 604. The input / output (I / O) interface 605 is also connected to the bus 604.

[0077] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0078] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 609, and / or installed from a removable medium 611. When the computer program is executed by a central processing unit (CPU) 601, various functions defined in the system of the present application are executed.

[0079] It should be noted that the computer-readable medium shown in the embodiment of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0080] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0081] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0082] Another aspect of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer executes the material grabber control method provided in the above embodiments. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently without being assembled into the electronic device.

[0083] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0084] Another aspect of the present application also provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the material gripper control method provided in each of the above embodiments.

[0085] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0086] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0087] The above embodiments are merely illustrative of the principles and effects of the present application, and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A material grabber control method, characterized in that: include: Obtaining current track information and current area information of each work area, and obtaining work task information and current grabber information, wherein the grabber information includes grabber status and grabber type; Determine the task type of the task to be performed based on the work task information, and determine the grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type as the target grabber, wherein the grabber is used to grab and transport materials; Assigning a task to the target grabber according to the current track information, the current area information and the work task information to obtain a target task for the target grabber; Control the target grabber to execute the target task.

2. The material grabber control method according to claim 1, characterized in that: Determining the task type of the task to be performed based on the work task information includes: Extracting keywords from the work task information to obtain target keywords; The task type of the task to be performed is determined according to the target keyword.

3. The material grabber control method according to claim 1, characterized in that: Determining a grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type as a target grabber, including: Matching the current material grabber state with the preset material grabber state to obtain a first matching result; Matching the current grabber type with the grabber type corresponding to the task type to obtain a second matching result; Determine an initial material grabber based on the first matching result and the second matching result; Determine the initial distance according to the task starting point and the current grabber position, wherein the work task information includes the task starting point, and the grabber information includes the grabber position; The initial grabbers are sorted according to the initial distances, and the target grabber is determined according to the sorting result.

4. The material grabber control method according to claim 1, characterized in that: Assigning a task to the target grabber according to the current track information, the current area information and the work task information to obtain a target task of the target grabber includes: Determine the target starting point, target end point and target task amount of the target grabber according to the current area information and the work task information; Determine the target path of the target grabber according to the current track information, the target starting point and the target end point; The target task is determined based on the target path and the target task amount.

5. The material grabber control method according to any one of claims 1 to 4, characterized in that: Controlling the target grabber to perform the target task includes: Obtaining the current moment position and the next moment position of the target grabber; Determining a steering angle of the target grabber based on the current moment position and the next moment position; The target material grabber is controlled to turn based on the turning angle by a track direction conversion device.

6. The material grabber control method according to any one of claims 1 to 4, characterized in that: Before obtaining the current track information and the current area information of each working area, the method further includes: Obtain work scenario information; Divide the work scene into regions according to the work scene information to obtain a plurality of work areas, wherein the work areas include a storage entry area, a storage exit area and a standby area; Perform path planning based on the work area and the work scene information to obtain a track planning result; Install the grabber track according to the track planning results.

7. The material grabber control method according to claim 6, characterized in that: After controlling the target material grabber to perform the target task, the method further includes: Detecting whether the target grabber has a task to be performed; If it is detected that the target grabber does not have the task to be executed, controlling the target grabber to move to the waiting area; If it is detected that the target grabber has the task to be executed, the target grabber is controlled to travel to a starting point corresponding to the task to be executed.

8. A material grabber control device, characterized in that: include: An acquisition module, used to acquire current track information and current area information of each work area, and to acquire work task information and current grabber information, wherein the grabber information includes grabber status and grabber type; a determination module, used to determine the task type of the task to be performed based on the work task information, and determine a grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type as a target grabber, wherein the grabber is used to grab and transport materials; An allocation module, used for allocating tasks to the target grabber according to the current track information, the current area information and the work task information, so as to obtain a target task of the target grabber; A control module is used to control the target grabber to perform the target task.

9. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the electronic device to implement the gripper control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the material gripper control method according to any one of claims 1 to 7.

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