A control method and system for robots in a network-free warehouse

Abstract

A control method and system for a robot in a network-free warehouse includes the following steps: converting a control strategy into an information image; the robot recognizing the information image to obtain the control strategy and providing feedback on the control strategy acquisition status; checking the completeness of the control strategy; if incomplete, continuing to acquire information images until the control strategy completeness meets the requirements; and executing the control strategy. This application utilizes information images for information transmission in a network-free warehouse, and this transmission can be performed multiple times. If a single transmission contains sufficient information, the robot can initiate an action first, thereby improving its work efficiency and avoiding the impact of demanding complete information on the timeliness of robot actions.

Description

Technical Field

[0001] This application relates to a control method and system for a robot in a wireless warehouse. Background Technology

[0002] A secure warehouse refers to a storage facility for important materials, archives, and other critical items. Secure warehouses are designed to prevent the deployment of wireless networks; therefore, current secure warehouse operations are generally still conducted manually, rather than through automation. While some mechanized equipment exists in secure warehouses, it typically operates by directly receiving commands, hindering the exchange of information. This significantly impedes the mechanization process in secure warehouses. Therefore, developing robotic control for secure warehouses without network connectivity becomes particularly important. Summary of the Invention

[0003] To address the aforementioned problems, this application discloses a robot control method in a network-free warehouse, comprising the following steps: converting a control strategy into an information image; the robot recognizing the information image to obtain the control strategy and providing feedback on the control strategy acquisition status; checking the completeness of the control strategy; if incomplete, continuing to acquire information images until the control strategy completeness meets the requirements; and executing the control strategy. This application utilizes information images for information transmission in a network-free warehouse, and this transmission can be performed multiple times. If a single transmission contains sufficient information, the robot can initiate action first, thereby improving its work efficiency and avoiding the impact of demanding complete information on the timeliness of robot actions.

[0004] Preferably, the information image is a QR code image.

[0005] Preferably, the decoded QR code image includes a check bit and an execution bit. The check bit represents the time the QR code image was formed. After obtaining the check bit, a time check is performed. If the difference between the acquisition time of the QR code image and the time indicated by the check bit is higher than a time threshold, the QR code image is re-acquired. The execution bit is used to transmit control strategies. The purpose of setting the check bit in this application is to avoid scanning other interfering QR codes and to avoid receiving instructions from expired QR code images for various reasons, thereby avoiding the acquisition and execution of invalid instructions.

[0006] Preferably, the QR code image is automatically refreshed, and the refresh interval is lower than a time threshold.

[0007] Preferably, the robot is equipped with a feedback module, which has several indicator lights of different colors.

[0008] Preferably, when implementing the control strategy, the retrieval and placement of archival materials are performed in the following manner:

[0009] The robot moves to the designated location in the filing cabinet, then adjusts and retrieves / places files according to the control strategy. After the retrieval / placement is completed, it obtains feedback from the filing cabinet regarding the retrieval / placement and collects this feedback.

[0010] Preferably, the robot performs a simulation before executing the control strategy:

[0011] The obtained control strategy is simulated and executed. Based on known information, it is determined whether the simulation can be completed. If it can, the robot's execution position is obtained after the simulated action is completed. If the robot can obtain further information images at the execution position, the control strategy is considered complete, and actual execution begins. This application, by setting up simulated execution, ensures that after an action is completed, the robot can continue the action as long as it passes through a position where information images can be obtained at the execution position. This guarantees the timeliness of actions and greatly improves information transmission efficiency and action execution efficiency.

[0012] Preferably, the execution orientation refers to the position the robot passes through during the simulated execution process, after completing a simulated action and before reaching the final position.

[0013] Preferably, the control strategy includes the robot's movement path and file picking and placing actions.

[0014] On the other hand, this application also discloses a control system for a robot in a wireless warehouse, comprising the following modules:

[0015] The display module is used to convert control strategies into information images and display them externally.

[0016] The robot is used to acquire information images from the display mode and perform identification checks on the integrity of the control strategy. If the strategy is incomplete, it continues to acquire information images until the integrity of the control strategy meets the requirements, then executes the strategy and generates execution feedback.

[0017] The feedback acquisition module is used to acquire the robot's execution feedback.

[0018] This application can bring the following beneficial effects:

[0019] 1. In the construction of secure warehouses, in order to ensure data security, wireless networks cannot be used for message transmission, which brings difficulties to the use of mechanical automation equipment. This method innovatively solves the message transmission problem between mechanical automation equipment in the absence of a network, creating a basic guarantee for the intelligent upgrade of secure warehouses and providing a leading advantage to the secure warehouse construction industry.

[0020] 2. In a warehouse without a network, this application transmits information through information images, and the information can be transmitted multiple times. If a single transmission contains sufficient information, the robot can take action first, thereby improving its work efficiency and avoiding the impact of demanding complete information on the timeliness of the robot's actions.

[0021] 3. This application sets up simulated execution so that after an action is completed, as long as the location where information images can be obtained is passed in the execution direction, the action can be performed again, thereby ensuring the timeliness of the action and greatly improving the efficiency of information transmission and action execution. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 This is a schematic diagram of Example 1;

[0024] Figure 2 This is a schematic diagram of Example 2. Detailed Implementation

[0025] To clearly illustrate the technical features of this solution, the following detailed description of specific implementation methods will be provided.

[0026] In the first embodiment, such as Figure 1 As shown, a method for controlling a robot in a networkless warehouse includes the following steps:

[0027] S101 converts the control strategy into an information image;

[0028] The information image is a QR code image.

[0029] The decoded QR code image includes a check bit and an execution bit;

[0030] The verification bit is the time when the QR code image was formed. After obtaining the verification bit, a time verification is performed. If the difference between the acquisition time of the QR code image and the time indicated by the verification bit is higher than the time threshold, the QR code image is re-acquired.

[0031] The execution bit is used to transmit control policies.

[0032] The QR code image is automatically refreshed, and the refresh interval is less than the time threshold.

[0033] The control strategy includes the robot's movement path and the actions of picking up and placing documents.

[0034] The S102 robot identifies information images, obtains control strategies, and provides feedback on the control strategy acquisition status.

[0035] The robot's camera scans the QR code and begins recognizing the command. Upon successful recognition, a green indicator light turns on, indicating that the message has been received, and the robot begins moving. If recognition fails, a red light illuminates, and the robot refreshes its position, awaiting new commands.

[0036] Before executing the control strategy, the robot first performs a simulation:

[0037] The obtained control strategy is simulated and executed. Based on the known information, it is determined whether the simulation can be completed. If it can be completed, the robot's execution orientation is obtained after the simulated action is completed. If the robot can obtain further information images at the execution orientation, the control strategy is considered complete, and actual execution is carried out. The execution orientation is set to correspond to an external display screen that can display information images.

[0038] The execution orientation refers to the position that the robot passes through during the simulation execution process, after completing a simulated action and before reaching its final position.

[0039] S103 checks the integrity of the control strategy. If it is incomplete, it continues to acquire information images until the integrity of the control strategy meets the requirements.

[0040] S104 executes the control strategy, performs the action, reaches the execution position or returns to the original position, and continues to acquire the control strategy.

[0041] When implementing control strategies, the retrieval and placement of archival materials should be carried out in the following manner:

[0042] The robot moves to the designated location in the filing cabinet, then adjusts and retrieves / places files according to the control strategy. After the retrieval / placement is completed, it obtains feedback from the filing cabinet regarding the retrieval / placement and collects this feedback.

[0043] The robot receives instructions to move to the designated waiting area of ​​the cabinet, and controls the robot to adjust the gimbal angle. The green light turns on, ready to dock with the robotic arm to retrieve the files. If the gimbal is not properly adjusted, the yellow light turns on, and the robot continues to adjust.

[0044] If the gimbal cannot be properly adjusted within a certain time, a red light will illuminate (indicating a malfunction, and the main control center will notify the administrator that manual intervention is required).

[0045] If the robot's indicator light does not turn green, it will wait. When the green light appears, it will place the file in the mechanical arm onto the gimbal. If the placement is successful, the indicator light on the mechanical arm will turn green. If the placement is not successful, the yellow light will remain on. After a timeout, the red light will turn on (indicating a malfunction, and the main control center will notify the administrator that manual intervention is required).

[0046] The robot indicator light turned green, and the robot read the green light signal from the robotic arm, confirming that the file had been successfully placed into the robot's gimbal. The robot then began the next action.

[0047] Upon reaching the execution location or returning to the original location, continue acquiring the control strategy.

[0048] In the second embodiment, a method for controlling a robot in a network-free warehouse, such as... Figure 2 As shown, it includes the following modules:

[0049] The display module 201 is used to convert the control strategy into information images and display them to the outside world through multiple displays;

[0050] Robot 202 is used to acquire information images from the display mode and perform identification checks on the integrity of the control strategy. If the control strategy is incomplete, it continues to acquire information images until the integrity of the control strategy meets the requirements, executes the strategy, and generates execution feedback.

[0051] The feedback acquisition module 203 is used to acquire the robot's execution feedback.

[0052] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a robot in a network-free warehouse, characterized in that: Includes the following steps: Transform control strategies into information images; The robot identifies information images, obtains control strategies, and provides feedback on the status of the obtained control strategies. Check the integrity of the control strategy. If it is incomplete, continue acquiring information images until the integrity of the control strategy meets the requirements. Execute control policies; The information image is a QR code image; The QR code image, after decoding, includes a verification bit and an execution bit; the QR code image is automatically refreshed, and the refresh interval is less than a time threshold. The verification bit is the time when the QR code image was formed. After obtaining the verification bit, a time verification is performed. If the difference between the acquisition time of the QR code image and the time indicated by the verification bit is higher than the time threshold, the QR code image is re-acquired. After successful recognition, the green indicator light is turned on to indicate that the message has been received and movement begins. If it is not recognized, the red light is turned on and the position is refreshed to wait for new instructions. The execution bit is used to transmit control strategies; Before executing the control strategy, the robot first performs a simulation: The obtained control strategy is simulated and executed. Based on the known information, it is determined whether the simulation can be completed. If it can be completed, the robot's execution position is obtained after the simulated action is completed. If the robot can obtain further information images at the execution position, the control strategy is considered to be completed and actual execution is carried out. The robot moves to the waiting area of ​​the designated cabinet upon receiving the instruction and controls the robot to adjust the gimbal angle. The green light illuminates, indicating that it is ready to dock with the robotic arm to retrieve the file. If the gimbal cannot be adjusted properly, the yellow light remains on, and adjustment continues. If the gimbal cannot be adjusted properly within a certain time, the red light illuminates, indicating a malfunction, and the main control center notifies the administrator that manual intervention is required.

2. The control method for a robot in a wire-free warehouse according to claim 1, characterized in that: The robot is equipped with a feedback module, which has several indicator lights of different colors.

3. The control method for a robot in a wire-free warehouse according to claim 1, characterized in that: When implementing control strategies, the retrieval and placement of archival materials should be carried out in the following manner: The robot moves to the designated location in the filing cabinet, then adjusts and retrieves / places files according to the control strategy. After the retrieval / placement is completed, it obtains feedback from the filing cabinet regarding the retrieval / placement and collects this feedback.

4. The control method for a robot in a wire-free warehouse according to claim 1, characterized in that: The execution orientation refers to the position the robot passes through during the simulation execution process, after completing a simulated action and before reaching its final position.

5. The control method for a robot in a wire-free warehouse according to claim 1, characterized in that: The control strategy includes the robot's movement path and the actions of picking up and placing files.

6. A control system for a robot in a wireless warehouse, used to implement the control method for a robot in a wireless warehouse according to any one of claims 1-5, characterized in that: Includes the following modules: The display module is used to convert control strategies into information images and display them externally. The robot is used to acquire information images from the display mode and perform identification checks on the integrity of the control strategy. If the strategy is incomplete, it continues to acquire information images until the integrity of the control strategy meets the requirements, then executes the strategy and generates execution feedback. The feedback acquisition module is used to acquire the robot's execution feedback.

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