Automatic storage method and system for glass plate processing

Abstract

The invention provides an automatic storage method and system for glass plate processing, and relates to the technical field of glass plate transfer, the method comprises the following steps: after detecting that a glass plate is in contact with a carrying frame, acquiring first pressure data detected by each supporting point in real time; if the first pressure data is smaller than or equal to the first pressure threshold value all the time, the pressure difference value between the different supporting points is calculated; after the two supporting points with the pressure difference values larger than a second pressure threshold value are determined, the glass plate is controlled to move in the direction where the supporting point with the small pressure value is located till the pressure difference values are both smaller than the second pressure threshold value; and after the carrying frame starts to move, if it is detected that the vibration amplitude is larger than a preset vibration threshold value or the second pressure data is larger than the first pressure threshold value, abrasion early warning is conducted. By implementing the method, stress concentration caused by non-uniform supporting can be reduced, so that the damage risk is reduced, and the stability and safety of the glass plate in the carrying process are effectively ensured.

Description

Technical Field

[0001] The present application relates to the technical field of glass plate transfer, and in particular to an automated storage method and system for glass plate processing. Background Art

[0002] In modern industrial production, glass sheets are a widely used material, used in a variety of fields such as construction, automobiles, and home appliances. Due to the brittleness and high value of glass sheets, their storage and handling process requires special attention to prevent breakage and loss. Automated warehousing systems are widely used because of their advantages of improving efficiency and reducing human errors.

[0003] In current automated storage systems, glass sheets are usually transported by robotic arms or transport vehicles. These systems use support frames to stably support the glass sheets to avoid damage caused by direct contact. During the handling process, the support points play a key role in the stability of the glass sheets.

[0004] However, in the process of placing or moving glass plates, the automated storage system in the related art is prone to wear and tear due to uneven force, and even causes the glass plates to break. Summary of the invention

[0005] The present application provides an automated storage method and system for glass plate processing, which are used to solve the problem of glass plates being worn due to uneven force during placement or movement.

[0006] In a first aspect, the present application provides an automated storage method for glass plate processing, which is applied to an automated storage system, and the method comprises: After detecting that the glass plate contacts multiple supporting points on the transport frame, first pressure data detected at each supporting point is acquired in real time, the supporting point being equipped with a pressure sensor and a vibration sensor; In the process of placing the glass plate on the transport rack, if it is detected that the first pressure data of each supporting point is always less than or equal to the first pressure threshold, then the pressure difference between different supporting points is calculated; After determining the two supporting points where the pressure difference is greater than the second pressure threshold, controlling the glass plate to move toward the supporting point where the pressure value is smaller, until the pressure difference is less than the second pressure threshold; After detecting that the transport rack starts to move, the vibration amplitude of the glass plate is obtained through a vibration sensor; If it is detected that the vibration amplitude is greater than the preset vibration threshold or the second pressure data is greater than the first pressure threshold, a wear warning is issued. The second pressure data is the pressure data collected from each supporting point during the movement of the transport rack.

[0007] Through the above-mentioned embodiments, the automated warehousing system monitors the pressure data of the supporting points and the vibration amplitude of the glass plates in real time, and adjusts the position of the glass plates based on the pressure differences, thereby reducing the stress concentration caused by uneven support and thus reducing the risk of breakage, and effectively ensuring the stability and safety of the glass plates during transportation.

[0008] In some embodiments, during the process of placing the glass sheet on the transport rack, if it is detected that the first pressure data of each supporting point is always less than or equal to the first pressure threshold, the step of calculating the pressure difference between different supporting points specifically includes: If it is detected that the first pressure data of one or more supporting points is greater than a first pressure threshold, the placement operation of the glass sheet is immediately stopped; The first pressure data of the one or more supporting points is sent to a terminal device.

[0009] Through the above embodiments, the automated storage system immediately stops the handling operation when the pressure exceeds the threshold value and sends the data to the terminal device, which enhances the system's ability to respond quickly to abnormal situations, thereby avoiding potential safety risks and damage to the glass plate. In some embodiments, after determining the two supporting points where the pressure difference is greater than the second pressure threshold, the step of controlling the glass sheet to move toward the supporting point where the pressure value is smaller until the pressure difference is less than the second pressure threshold specifically includes: If it is detected that a plurality of pressure differences are greater than the second pressure threshold, two supporting points with the largest pressure differences are determined; The glass plate is controlled to move toward the direction of the supporting point with the smaller pressure value until the pressure difference is less than the second pressure threshold.

[0010] Through the above embodiments, the automated warehousing system provides multiple specific adjustment strategies for the glass plates when the pressure difference is greater than the second pressure threshold. By optimizing the pressure balance between the support points, the risk of glass plate breakage due to uneven pressure is further reduced, thereby improving the safety and efficiency of the transportation process.

[0011] In some embodiments, after detecting that the glass sheet contacts multiple supporting points on the transport rack, before the step of acquiring first pressure data detected at each supporting point in real time, the step further includes: Get the size and type of the glass pane; The corresponding grasping force of the robotic arm is matched from a preset database according to the size and type, and the robotic arm is equipped with a pressure sensor.

[0012] Through the above embodiment, the automated warehousing system obtains the size and type of the glass plate and adjusts the gripping force of the robotic arm accordingly. Such a preprocessing step improves the handling accuracy and adaptability, enables the system to perform personalized processing according to the specific characteristics of different glass plates, and reduces the occurrence of wear during the gripping process of the robotic arm.

[0013] In some embodiments, after detecting that the glass sheet contacts multiple supporting points on the transport rack, before the step of acquiring first pressure data detected at each supporting point in real time, the step further includes: Real-time detection of warehouse temperature and humidity values; Adjust the temperature and humidity of the warehouse according to the preset standard values.

[0014] Through the above embodiments, the automated warehousing system ensures the optimal storage and transportation environment by real-time monitoring and regulating environmental conditions such as temperature and humidity in the warehouse, thereby preventing changes in the physical properties of the glass plates and potential damage caused by environmental changes.

[0015] In some embodiments, after detecting that the transport rack starts to move, before the step of obtaining the vibration amplitude of the glass sheet through the vibration sensor, the method further includes: Acquire first spatial boundary information of a transport device, the transport device comprising a transport rack; Acquire the second space boundary information of the glass plate on the handling equipment by using laser ranging technology; The total space boundary of the handling device in the stationary state is determined according to the first space boundary information and the second space boundary information.

[0016] Through the above-mentioned embodiments, the automated warehousing system can accurately grasp the spatial position relationship between the transporting equipment and the glass plate by acquiring the spatial boundary information of the transporting equipment before vibration monitoring. Such spatial management ensures the high precision and safety of the transporting process and reduces the wear caused by collisions.

[0017] In some embodiments, after the step of obtaining the vibration amplitude of the glass sheet through the vibration sensor after detecting that the transport rack starts to move, the method further includes: Get real-time location information of each handling equipment; Determining a real-time total spatial boundary of the transport device in a moving state based on the position information and the total spatial boundary of the transport device in a stationary state; If it is detected that the distance between the real-time total space boundaries corresponding to two adjacent transport devices is less than a preset safety threshold, the paths of the two transport devices are adjusted respectively.

[0018] Through the above embodiments, the automated warehousing system maximizes the handling efficiency and minimizes the risk of collision by monitoring the real-time spatial boundaries of the handling equipment and dynamically adjusting the path of the handling equipment, thereby reducing the occurrence of collision wear or damage.

[0019] In a second aspect, the present application provides an automated warehousing system, the automated warehousing system comprising: one or more processors and a memory; The memory is coupled to the one or more processors, and the memory is used to store computer program code, which includes computer instructions. The one or more processors call the computer instructions so that the automated warehousing system can implement an automated warehousing method for glass plate processing provided in the above embodiment, which will not be repeated here.

[0020] In a third aspect, the present application provides a computer-readable storage medium comprising instructions. When the instructions are executed on an automated storage system, the automated storage system can implement an automated storage method for glass plate processing provided in the above-mentioned embodiment, which will not be described in detail here.

[0021] In a fourth aspect, the present application provides a computer program product. When the computer program product runs on an automated storage system, the automated storage system can implement an automated storage method for glass plate processing provided in the above embodiment, which will not be described in detail here.

[0022] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: 1. By monitoring the pressure difference at multiple support points in real time and dynamically adjusting the position of the glass plate based on these data, the risk of glass plate breakage caused by uneven support can be significantly reduced, and the safety and accuracy of the handling process can be optimized. By automatically adjusting the glass plate to the optimal position for balanced pressure, excessive stress and potential wear can be effectively prevented. 2. Obtain the size and type of the glass plate, adjust the gripping force of the robot arm accordingly, and monitor and control the warehouse environment in real time, so as to achieve fine management of the entire automated storage system environment and operating equipment. It not only improves the adaptability and accuracy of the operation, but also ensures that the storage and handling conditions of the glass plates in different environments are always kept in the optimal state, effectively avoiding potential damage to the glass plates caused by environmental factors.

[0023] 3. Real-time monitoring of vibration amplitude and pressure data, as well as immediate response measures when data exceeds the threshold, realizes the highly automated and intelligent response capabilities of the automated warehousing system. This instant feedback mechanism not only improves processing efficiency, but also greatly enhances the automated warehousing system's ability to warn and intervene in abnormal conditions, ensuring maximum safety during the handling process, making the entire system more sensitive and reliable in dealing with potential risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic flow chart of an automated storage method for glass plate processing in an embodiment of the present application; Figure 2 is another schematic flow chart of an automated storage method for glass plate processing in an embodiment of the present application; Figure 3 It is a schematic diagram of the structure of a physical device of the automated warehousing system in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations comprising one or more listed items.

[0026] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0027] For ease of understanding, the following is a flow chart of the method provided in this implementation. Figure 1 The figure is a schematic flow chart of an automated storage method for glass plate processing in an embodiment of the present application.

[0028] S101, after detecting that a glass plate contacts a plurality of supporting points on a transport rack, first pressure data detected at each supporting point is acquired in real time.

[0029] The processing of glass plates is inseparable from the transportation of glass plates. The transportation process is generally to place the glass plate on a transport rack of a forklift or other transport equipment by a robotic arm or manual means. In the process of placing the glass plate on the transport rack, it is generally necessary to first contact one side or one part of the glass plate with the transport rack, and then slowly lower the glass plate until the entire glass plate is placed on the transport rack.

[0030] When the automated storage system detects that the glass sheet has touched the support points on the transport rack, it immediately activates the pressure sensor to collect the pressure on each support point. The support points are pre-designed and installed on the transport rack, usually in a regular distribution to maximize the stability of the supported glass sheet. Each support point is built-in with a highly sensitive pressure sensor that can transmit pressure data to the central processing unit of the automated storage system in real time.

[0031] It should be noted that when the pressure sensor detects the existence of continuous pressure on the supporting point, it determines that the glass plate has contacted the supporting point on the transport rack and starts uploading the acquired first pressure data to the automated warehousing system.

[0032] S102: When the glass plate is placed on the transport rack, if it is detected that the first pressure data of each supporting point is always less than or equal to the first pressure threshold, the pressure difference between different supporting points is calculated.

[0033] This step introduces two key parameters, pressure threshold and pressure difference, which are used to continuously evaluate the pressure of the supporting points during the placement of the glass plate.

[0034] Specifically, the automated storage system sets a first pressure threshold as the upper limit of the support point pressure. During the entire placement process of the glass plate, the automated storage system determines in real time whether the pressure of each support point exceeds the first pressure threshold based on the first pressure data collected by the pressure sensor. The first pressure threshold is close to but less than the critical pressure value for the glass plate to break. When the pressure applied to the glass plate exceeds the critical pressure value, the glass plate is at risk of breaking. In addition, the first pressure threshold can be determined by relevant technical personnel based on experience or experimental data, and is not limited here.

[0035] During the placement of the glass plate, if the pressure of all supporting points is detected to be always maintained below the threshold, the system will further calculate the pressure difference between different supporting points for subsequent adjustment of the position of the glass plate on the transport rack. Conversely, if it is detected at a certain moment that the pressure of one or more supporting points exceeds the first pressure threshold, the placement process will be stopped and a wear warning will be issued directly.

[0036] S103 , after determining two supporting points whose pressure difference is greater than the second pressure threshold, controlling the glass plate to move toward the supporting point with a smaller pressure value, until the pressure difference is less than the second pressure threshold.

[0037] After obtaining the pressure difference between each support point, the automated storage system compares these differences with the second pressure threshold. The second pressure threshold sets the allowable range of pressure difference. When the pressure difference between two support points exceeds this threshold, it is determined that the force distribution of the glass sheet has significantly deviated from the optimal state and timely intervention and adjustment are required.

[0038] Specifically, the automated storage system controls the mechanical arm through instructions to adjust the contact position between the glass plate and the support point on the transport rack. For example, if the pressure value of support point A is 23N, the pressure value of support point B is 40N, and the pressure difference between support point A and support point B is 40N-23N=17N (17N> the second pressure threshold 10N), the glass plate is controlled to move in the direction of support point A to reduce the pressure on support point B. Then, after the glass plate moves a unit distance (for example, 5 cm), the glass plate is placed again, and the pressure difference is obtained again to detect the second pressure threshold, and this operation is repeated until the pressure difference between any two support points is less than the second pressure threshold.

[0039] In other embodiments, the automated storage system drives the translation mechanism and fine-tuning mechanism of the transport rack. The translation mechanism drives the entire transport rack to produce horizontal displacement, while the fine-tuning mechanism accurately controls the lifting and tilting of each support point. When the pressure of a certain support point is too high (such as exceeding a preset threshold), the system will control the corresponding fine-tuning mechanism to descend or tilt, forcing the glass plate to tilt toward the support point with less pressure until the high-pressure area is effectively unloaded. The precise control of the fine-tuning mechanism can ensure that the glass plate will not move or overturn significantly during the adjustment process, ensuring the stability and safety of the adjustment.

[0040] S104: After detecting that the transport rack starts to move, the vibration amplitude of the glass plate is obtained through a vibration sensor.

[0041] When the glass plate is completely placed on the transport rack, it is usually moved by a forklift or other transport equipment. During this process, the automated storage system processes and obtains the first pressure data of each support point in real time, and collects the vibration data of the glass plate in the vertical and horizontal directions, that is, the vibration amplitude, through the vibration sensors installed at the support points.

[0042] S105: If it is detected that the vibration amplitude is greater than the preset vibration threshold or the second pressure data is greater than the first pressure threshold, a wear warning is issued.

[0043] Since excessive vibration and excessive support pressure often mean that the glass plate and the handling equipment are subjected to stress shocks beyond the safety range, it is likely to cause accelerated wear of the handling components and shorten their service life in the long run. Therefore, in the embodiment of the present application, when the automated storage system detects that the actual vibration amplitude of the glass plate exceeds the preset vibration threshold, or the support point pressure exceeds the first pressure threshold, the system issues a wear warning signal.

[0044] It should be noted that the second pressure data mentioned above are pressure data collected from each supporting point during the movement of the transport rack.

[0045] In the above embodiment, the automated warehousing system monitors the pressure data of the supporting points and the vibration amplitude of the glass plates in real time, and adjusts the position of the glass plates based on the pressure difference, thereby reducing the stress concentration caused by uneven support and thus reducing the risk of breakage, and effectively ensuring the stability and safety of the glass plates during transportation.

[0046] The following is a more detailed description of the process of the method provided by this embodiment. Figure 2 FIG. 1 is another schematic flow chart of an automated storage method for glass plate processing in an embodiment of the present application.

[0047] S201. Obtain the size and type of the glass plate.

[0048] Before the automated storage system starts processing the glass sheets, it first needs to accurately obtain the size and type information of the glass sheets to be transported. The size of the glass sheets includes data in three dimensions: length, width, and thickness.

[0049] Specifically, the automated warehousing system can use a scanning device to quickly read the model information of the glass plate by scanning a barcode or QR code that is pre-pasted or engraved on the glass plate. The model information can correspond to the specific size and type of the glass plate in the system's preset database. In addition, the automated warehousing system can also be equipped with an optical sensor or a laser rangefinder to directly collect the length, width, and height data of the glass plate through non-contact measurement methods. For example, in one embodiment, the automated warehousing system can install a set of high-precision line laser sensors above the conveyor line. When the glass plate passes under the sensor, the precise size of the glass plate is calculated by measuring the length and position of the light band formed by the laser on the surface of the glass plate.

[0050] In addition, before the automated storage system starts to process the glass sheets, it will also detect the temperature and humidity of the warehouse in real time through sensors and control the temperature and humidity of the warehouse to keep the temperature and humidity of the warehouse within the standard temperature and humidity ranges. The specific method of adjusting the temperature and humidity is not limited here. By real-time monitoring and regulating the temperature and humidity of the warehouse and other environmental conditions, the optimal state of the storage and handling environment is ensured to prevent changes in the physical properties of the glass sheets and potential damage caused by environmental changes.

[0051] S202, matching the corresponding grasping force of the robot arm from a preset database according to the size and type.

[0052] It is understandable that the force control of the robot arm to grab the glass plate is directly related to the safety and stability of the handling process. If the grabbing force is too small, the robot arm may not be able to reliably clamp the glass plate, causing the glass plate to slip; and if the grabbing force is too large, it may damage the surface of the glass plate or even cause the glass plate to break. In this regard, in the technical solution provided in the present application, a grabbing force database is pre-established for the automated warehousing system. The database is indexed by the size and type information of the glass plate, and stores the optimal parameters for the robot arm to grab the glass plate of this model, such as the pressure of the gripper, the movement speed, the acceleration, etc. Among them, the optimal parameters are obtained by technicians through a large number of experiments and statistical analysis, which can maximize efficiency while ensuring the reliability of handling.

[0053] When a new glass sheet enters the automated storage system, the automated storage system enters its size and type information into the grasping force database for query, and quickly obtains the optimal parameters for the robotic arm to grasp the glass sheet.

[0054] In the above embodiment, the automated warehousing system obtains the size and type of the glass plate and adjusts the gripping force of the robotic arm accordingly. Such a preprocessing step improves the handling accuracy and adaptability, enables the system to perform personalized processing according to the specific characteristics of different glass plates, and reduces the occurrence of wear during the gripping process of the robotic arm.

[0055] S203: The first pressure data is less than or equal to a first pressure threshold.

[0056] After the glass sheet is grabbed by the robot arm and transferred to the transport rack, the pressure sensor installed on the support point starts to collect the first pressure data in real time. During this process, the automated warehousing system monitors the first pressure data on each support point in real time and compares it with the first pressure threshold to determine whether the glass sheet has been stably placed on the transport rack.

[0057] Furthermore, if it is detected that the first pressure data collected from each supporting point during the placement of the glass plate is always less than or equal to the first pressure threshold, it is determined that the glass plate is stably placed on the transport rack, and at this time, step S204 is executed to adjust the placement position of the glass plate by calculating the pressure difference between different supporting points. On the contrary, if it is detected that the first pressure data collected from one or more supporting points at a certain moment is greater than the first pressure threshold, it is determined that the glass plate is at risk of breakage, and step S213 is executed to immediately stop the placement operation of the glass plate and issue an early warning reminder.

[0058] S204: Calculate the pressure difference between different support points.

[0059] This step is the same as step S102 and will not be repeated here.

[0060] S205. Determine two supporting points with the largest pressure difference.

[0061] After the automated storage system calculates the pressure difference between the two supporting points, it determines the maximum pressure difference. For example, a rectangular glass plate is evenly supported by four supporting points A, B, C, and D, and their pressure values ​​are Pa=200N, Pb=250N, Pc=190N, and Pd=260N, respectively. The pressure difference between the Pd supporting point and the Pc supporting point is the largest, reaching 70N. Since the pressure difference exceeds the second pressure threshold (such as 30N), the position of the glass plate needs to be adjusted.

[0062] S206 , controlling the glass plate to move toward the direction of the supporting point with the smaller pressure value, until the pressure difference is less than the second pressure threshold.

[0063] This step is the same as step S103 and will not be repeated here.

[0064] S207: Acquire first space boundary information of the transport equipment.

[0065] Specifically, the automated warehousing system can use a variety of sensing technologies such as infrared, ultrasonic, and photoelectric to perform three-dimensional modeling and dimension measurement on the handling equipment to obtain an accurate digital expression of its external contour, namely, the first spatial boundary information.

[0066] For example, in one embodiment, a series of photoelectric sensors can be installed at key locations of the handling equipment. When the handling equipment passes, these sensors will be triggered in sequence to obtain a series of position coordinates. Then, the automated warehousing system generates a three-dimensional geometric model of the handling equipment based on these coordinates, extracts its key dimensional parameters such as length, width, and height, and forms a complete boundary information data set.

[0067] S208, obtaining second space boundary information of the glass plate on the handling equipment through laser ranging technology.

[0068] After obtaining the spatial boundary of the handling equipment, the automated warehousing system needs to further obtain the specific position of the glass sheet on the handling equipment, that is, the second spatial boundary information.

[0069] Specifically, multiple laser distance measuring sensors can be installed at appropriate locations of the handling equipment to project a scanning laser beam onto the surface of the glass plate. After the laser beam encounters the surface of the glass plate, it will be reflected back to the sensor. By calculating the time difference between the emission and reception of the laser beam, the automated warehousing system can obtain the distance from each surface of the glass plate to the sensor, thereby determining the relative position coordinates of the glass plate in the handling equipment. Through the joint action of multiple laser sensors at different angles, the automated warehousing system can obtain the complete three-dimensional spatial information of the glass plate (such as length, width, height, etc.) and obtain the second spatial boundary information.

[0070] S209: Determine the total space boundary of the transport equipment in a stationary state according to the first space boundary information and the second space boundary information.

[0071] When the automated storage system obtains the spatial boundary information of the handling equipment and the glass plate, it can determine the total space occupied by the handling equipment in a static state. Specifically, the automated storage system uses the first spatial boundary information (i.e., the boundary of the handling equipment itself) as a reference, and then superimposes the second spatial boundary information (i.e., the boundary of the glass plate) on it. The geometric union of the two constitutes the total boundary of the handling equipment.

[0072] In the above embodiment, before vibration monitoring, the automated warehousing system can accurately grasp the spatial position relationship between the transporting equipment and the glass plate by acquiring the spatial boundary information of the transporting equipment. Such spatial management ensures high precision and safety of the transporting process and reduces wear caused by collisions.

[0073] S210: After detecting that the transport rack starts to move, obtain the real-time position information of each transport device.

[0074] Specifically, each transport device is equipped with a high-precision position tracking device, including but not limited to GPS, ultra-wideband positioning or visual positioning system, etc. When the transport device is started, these positioning devices begin to continuously collect the location data of the device, usually including its three-dimensional spatial coordinates and posture angle information.

[0075] S211 . Determine the real-time total space boundary of the transporting equipment in the moving state according to the position information and the total space boundary of the transporting equipment in the stationary state.

[0076] Based on the real-time position information of the handling equipment, the automated warehousing system can further calculate its real-time total spatial boundary in motion. Specifically, the automated warehousing system generates a boundary model based on the total spatial boundary of the handling equipment when it is stationary obtained in step S209. Then, the automated warehousing system obtains the current position coordinates and attitude angles of the handling equipment in real time, uses them as transformation parameters, and performs a geometric transformation on the boundary model. Through operations such as translation and rotation, the automated warehousing system reconstructs the real-time boundary model of the handling equipment in the warehousing coordinate system. This model has the same shape as the initial static boundary, but the position and angle change dynamically with the movement of the handling equipment.

[0077] S212: If it is detected that the distance between the real-time total space boundaries corresponding to two adjacent transport devices is less than a preset safety threshold, the paths of the two transport devices are adjusted respectively.

[0078] Specifically, the automated warehousing system combines all the handling equipment in operation in pairs and calculates the minimum distance between their real-time boundaries. The distance calculation can be based on the geometric relationship of the boundary envelope, such as taking the Euclidean distance between the closest point pairs. When the calculated minimum distance is lower than the preset threshold, it is determined that there is a collision risk and the path adjustment process is immediately initiated.

[0079] Furthermore, the automated warehousing system controls the two handling devices with collision risks to avoid each other in opposite directions through instructions until their boundary distance is greater than the safety threshold again. For example, the faster device is slowed down, the device at the front is turned, and the adjusted paths are ensured to be within their respective drivable areas, etc., which are not limited here.

[0080] In the above embodiment, the automated warehousing system maximizes the handling efficiency and minimizes the risk of collision by monitoring the real-time spatial boundaries of the handling equipment and dynamically adjusting the path of the handling equipment, thereby reducing the occurrence of collision wear or damage.

[0081] S213, immediately stop the placement operation of the glass plate and send the first pressure data to the terminal device.

[0082] During the placement of the glass plate, if the automated storage system detects that the first pressure data of the support point exceeds the first pressure threshold, it is determined that the placement process is abnormal and there is a risk of damage. At this time, the automated storage system immediately takes protective measures and stops the placement of the glass plate through emergency braking to prevent further damage. At the same time, in order to facilitate on-site operators to understand and deal with abnormal situations in a timely manner, the automated storage system sends the pressure data of the faulty equipment to the terminal display device, such as an industrial control tablet computer, to warn relevant personnel of the risk.

[0083] Specifically, in one embodiment, the automated storage system sends an emergency stop command to the robot arm that performs the placement action. After receiving the command, the robot arm quickly locks the current position and stops all movements. At the same time, the vacuum suction cup at the support point also remains in the activated state, stably adsorbing the glass plate to prevent it from sliding. Through this emergency response, the improper force on the glass plate is controlled in time, and the risk of breakage is greatly reduced.

[0084] In the above embodiment, the automated warehousing system immediately stops the handling operation when the pressure exceeds the threshold value and sends the data to the terminal device, which enhances the system's ability to respond quickly to abnormal situations, thereby avoiding potential safety risks and damage to the glass plate.

[0085] The automated storage system of the embodiment of the present invention is applied to electronic equipment. Figure 3 A schematic diagram of the architecture of an electronic device suitable for implementing an embodiment of the present invention is shown.

[0086] It should be noted that Figure 3 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 invention.

[0087] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructions (computer programs), or by controlling related hardware through instructions (computer programs), and the instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. The electronic device of this embodiment includes a storage medium and a processor, wherein a plurality of instructions are stored in the storage medium, and the instructions can be loaded by the processor to execute any step of the method provided in the embodiment of the present invention.

[0088] Specifically, the storage medium and the processor are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more signal lines. The storage medium stores computer execution instructions for implementing the data access control method, including at least one software function module that can be stored in the storage medium in the form of software or firmware. The processor executes various functional applications and data processing by running the software program and module stored in the storage medium. The storage medium can be, but is not limited to, random access storage medium (Random Access Memory, referred to as: RAM), read-only storage medium (Read Only Memory, referred to as: ROM), programmable read-only storage medium (Programmable Read-Only Memory, referred to as: PROM), erasable read-only storage medium (Erasable Programmable Read-Only Memory, referred to as: EPROM), electrically erasable read-only storage medium (Electric Erasable Programmable Read-Only Memory, referred to as: EEPROM), etc. Among them, the storage medium is used to store programs, and the processor executes the program after receiving the execution instruction.

[0089] Furthermore, the software programs and modules in the above-mentioned storage medium may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components. The processor may be an integrated circuit chip having signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc., which may implement or execute the various methods, steps, and logic flow diagrams disclosed in this embodiment. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0090] Since the instructions stored in the storage medium can execute the steps in any method provided in the embodiments of the present invention, the beneficial effects of any method provided in the embodiments of the present invention can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0091] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An automated storage method for glass plate processing, applied to an automated storage system, characterized in that: The method comprises: After detecting that the glass plate contacts multiple supporting points on the transport frame, first pressure data detected at each supporting point is acquired in real time, wherein the supporting points are equipped with pressure sensors and vibration sensors; In the process of placing the glass plate on the transport rack, if it is detected that the first pressure data of each supporting point is always less than or equal to the first pressure threshold, then calculating the pressure difference between different supporting points; After determining the two supporting points where the pressure difference is greater than the second pressure threshold, controlling the glass plate to move toward the supporting point where the pressure difference is smaller, until the pressure difference is less than the second pressure threshold; After detecting that the transport rack starts to move, obtaining the vibration amplitude of the glass plate through a vibration sensor; If it is detected that the vibration amplitude is greater than a preset vibration threshold or the second pressure data is greater than the first pressure threshold, a wear warning is issued, and the second pressure data is the pressure data collected from each supporting point during the movement of the transport rack.

2. The method according to claim 1, characterized in that The step of calculating the pressure difference between different supporting points if it is detected that the first pressure data of each supporting point is always less than or equal to the first pressure threshold value during the process of placing the glass plate on the transport rack specifically includes: If it is detected that the first pressure data of one or more supporting points is greater than a first pressure threshold, immediately stopping the placement operation of the glass sheet; The first pressure data of the one or more supporting points is sent to a terminal device.

3. The method according to claim 1, characterized in that After determining the two supporting points where the pressure difference is greater than the second pressure threshold, the step of controlling the glass sheet to move toward the supporting point where the pressure difference is smaller until the pressure difference is less than the second pressure threshold specifically includes: If it is detected that a plurality of the pressure difference values ​​are greater than the second pressure threshold, determining two supporting points with the largest pressure difference values; The glass plate is controlled to move toward the direction of the supporting point with the smaller pressure value until the pressure difference values ​​are all smaller than the second pressure threshold.

4. The method according to claim 1, characterized in that: After the glass sheet is detected to contact multiple supporting points on the transport rack, before the step of acquiring first pressure data detected at each supporting point in real time, the method further includes: Get the size and type of the glass pane; The corresponding grasping force of the robotic arm is matched from a preset database according to the size and type, and the robotic arm is equipped with a pressure sensor.

5. The method according to claim 1, characterized in that After the glass sheet is detected to contact multiple supporting points on the transport rack, before the step of acquiring first pressure data detected at each supporting point in real time, the method further includes: Real-time detection of warehouse temperature and humidity values; Adjust the temperature and humidity of the warehouse according to the preset standard values.

6. The method according to claim 1, characterized in that Before the step of obtaining the vibration amplitude of the glass plate through the vibration sensor after detecting that the transport rack starts to move, the method further includes: Acquire first space boundary information of a transport device, wherein the transport device includes a transport rack; Acquiring second spatial boundary information of the glass plate on the handling device by laser ranging technology; The total space boundary of the transport device in a stationary state is determined according to the first space boundary information and the second space boundary information.

7. The method according to claim 1, characterized in that After the step of obtaining the vibration amplitude of the glass plate through a vibration sensor after detecting that the transport rack starts to move, the method further includes: Get real-time location information of each handling equipment; Determining a real-time total spatial boundary of the transport device in a moving state based on the position information and the total spatial boundary of the transport device in a stationary state; If it is detected that the distance between the real-time total space boundaries corresponding to two adjacent transport devices is less than a preset safety threshold, the paths of the two transport devices are adjusted respectively.

8. An automated warehousing system, characterized in that: The automated warehousing system includes: one or more processors and memory; The memory is coupled to the one or more processors, and the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the automated warehousing system to execute the method as described in any one of claims 1-7.

9. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on an automated warehousing system, the automated warehousing system is caused to execute the method as described in any one of claims 1-7.

10. A computer program product, characterized in that When the computer program product is executed on an automated warehousing system, the automated warehousing system is caused to execute the method according to any one of claims 1 to 7.

Images