Automatic handling machine control method and device, control equipment and readable storage medium

Abstract

The embodiment of the present disclosure provides a kind of automatic loading and unloading machine control method, device, control equipment and readable storage medium, the method comprises in the process that the automatic loading and unloading machine and the handling robot execute current task, if detecting fault point, then the sub-equipment of the automatic loading and unloading machine corresponding to the fault point is controlled offline;After the fault point is eliminated, the offline sub-equipment is controlled online, and the handling robot and the offline sub-equipment are initialized to make the handling robot and the offline sub-equipment re-execute the current task.The method provided in the present disclosure can realize the orderly online and offline of automatic loading and unloading machine.

Description

[0001] This application is a divisional application of Chinese Patent Application No. 202110706663.5, filed on June 24, 2021, entitled "Automatic Loading and Unloading Machine Control Method, Apparatus, Control Equipment and Readable Storage Medium". Technical Field

[0002] This disclosure relates to the field of intelligent warehousing technology, and in particular to an automatic loading and unloading machine control method, device, control equipment, and readable storage medium. Background Technology

[0003] During the interaction between the automatic loading and unloading machine and the handling robot, errors in loading and unloading may occur due to the misalignment of the material bin, or the equipment itself may malfunction. When a malfunction occurs, maintenance personnel need to come to the site to resolve the problem. The automatic loading and unloading machine is a large machine that needs to be put into or taken out of service in an orderly manner.

[0004] Currently, the automatic loading and unloading machine's online and offline status is manually controlled by staff, who will adjust the machine's online or offline status based on the on-site loading and unloading situation.

[0005] However, when a malfunction occurs, staff often cannot control the automatic loading and unloading machine to come off the line in time, making it difficult to ensure that the automatic loading and unloading machine is put on and off the line in an orderly manner. Summary of the Invention

[0006] This disclosure provides an automatic loading and unloading machine control method, apparatus, control equipment, and readable storage medium, enabling the orderly online and offline operation of the automatic loading and unloading machine.

[0007] In a first aspect, embodiments of this disclosure provide an automatic loading and unloading machine control method. This method is applied to a control device in a loading and unloading system, the loading and unloading system including the control device, an automatic loading and unloading machine control system, and a handling robot. The method includes:

[0008] If a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot, the sub-device corresponding to the fault point in the automatic loading and unloading machine will be taken offline.

[0009] After the fault point is eliminated, the offline sub-device is brought back online, and the handling robot and the offline sub-device are initialized so that the handling robot and the offline sub-device can resume the current task.

[0010] In one possible implementation, the step of controlling the sub-equipment corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected includes:

[0011] If a fault point is detected, the sub-device corresponding to the fault point in the automatic loading and unloading machine is taken offline, and the position of the handling robot is obtained.

[0012] If the transport robot is located within the designated work area, then control the transport robot to stop moving.

[0013] In one possible implementation, the step of controlling the sub-equipment corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected includes:

[0014] If a fault point is detected, then check whether the sub-device corresponding to the fault point has an incomplete task instruction;

[0015] If the sub-device corresponding to the fault point has an incomplete task instruction, then control the sub-device corresponding to the fault point to complete the incomplete task instruction and control the sub-device corresponding to the fault point to go offline.

[0016] In one possible implementation, the initialization process for the transport robot and the offline sub-device includes:

[0017] Control the transport robot to switch to the working state before the automatic loading and unloading machine interacts with the transport robot, and control the offline sub-devices to switch to the working state before the automatic loading and unloading machine interacts with the transport robot.

[0018] In one possible implementation, controlling the handling robot to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and controlling the offline sub-device to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, includes:

[0019] Detect whether the actions of the handling robot and the offline sub-equipment are obstructed by objects;

[0020] If there are no obstructions, the handling robot is controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and the offline sub-device is also controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot.

[0021] In one possible implementation, after controlling the handling robot to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and controlling the offline sub-device to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, the method further includes:

[0022] Control the handling robot and the offline sub-device to re-execute the current task;

[0023] If the transport robot and the offline sub-device have not completed the current task, return to the operation state before the automatic loading and unloading machine interacts with the transport robot, and control the offline sub-device to switch back to the operation state before the automatic loading and unloading machine interacts with the transport robot.

[0024] In one possible implementation, the initialization process for the transport robot and the offline sub-device further includes:

[0025] If a material box is detected in the area corresponding to the fault point, the handling robot and the automatic loading and unloading machine are controlled to transport the material box to the position before the automatic loading and unloading machine interacts with the handling robot.

[0026] In one possible implementation, the initialization process for the transport robot and the offline sub-device further includes:

[0027] If at least two bins are detected on the automatic loading and unloading machine, the handling robot and the automatic loading and unloading machine are controlled to transport the at least two bins to the positions before the automatic loading and unloading machine interacts with the handling robot.

[0028] In one possible implementation, before the controlled offline sub-device comes online and the handling robot and the offline sub-device are initialized, the following steps are further included:

[0029] The system controls the transport robot and the offline sub-devices to reverse the current task and detect whether the fault point has been eliminated.

[0030] In one possible implementation, the current task includes multiple task process nodes, and the control of the handling robot and the offline sub-device reverses the execution of the current task and detects whether the fault point has been eliminated, including:

[0031] Obtain the task process node corresponding to the fault point from among the multiple task process nodes, and use it as the fault process node;

[0032] Control the transport robot and the offline sub-device to switch to the previous task process node of the faulty process node, and check whether the fault point has been eliminated.

[0033] In one possible implementation, the automatic loading and unloading machine includes multiple sub-devices, and the step of controlling the sub-device corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected includes:

[0034] If a fault point is detected, and the fault point is located on the automatic loading and unloading machine, the area on the automatic loading and unloading machine where the fault point is located is obtained as the target area;

[0035] The sub-devices corresponding to the target area among the multiple sub-devices are identified as target sub-devices, and the target sub-devices are taken offline.

[0036] In one possible implementation, the plurality of sub-devices include a feeder and a discharger.

[0037] In one possible implementation, the automatic loading and unloading machine includes multiple sub-devices, and the step of controlling the sub-device corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected includes:

[0038] If a fault point is detected, and the fault point is located on the handling robot, the sub-device corresponding to the task performed by the handling robot among the plurality of sub-devices is selected as the target sub-device;

[0039] Control the target sub-device to be taken offline.

[0040] In one possible implementation, the method further includes:

[0041] If a control operation is received from the user on the control display interface, the corresponding sub-device in the automatic loading and unloading process will be brought online or offline according to the control operation.

[0042] Secondly, this disclosure also provides an automatic loading and unloading machine control system, applied to a control device in a loading and unloading system, the loading and unloading system including the control device, an automatic loading and unloading machine control, and a handling robot, the method including:

[0043] The offline control module is used to control the sub-device corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot.

[0044] The online and initialization control module is used to control the offline sub-devices to come online after the fault point is eliminated, and to perform initialization processing on the handling robot and the offline sub-devices so that the handling robot and the offline sub-devices can re-execute the current task.

[0045] Thirdly, this disclosure also provides a control device, which includes: a memory and a processor;

[0046] The memory is used to store the processor-executable instructions.

[0047] The processor is configured to execute the automatic loading and unloading machine control method provided in any embodiment corresponding to the first aspect.

[0048] Fourthly, this disclosure also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the automatic loading and unloading machine control method provided in any embodiment corresponding to the first aspect of this disclosure.

[0049] Sixthly, this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the automatic loading and unloading machine control method provided in any embodiment corresponding to the first aspect of this disclosure.

[0050] The automatic loading and unloading machine control method, apparatus, control device, and readable storage medium provided in this disclosure, when an automatic loading and unloading machine and a handling robot are performing their current task, if a fault is detected, the sub-device corresponding to the fault point in the automatic loading and unloading machine is taken offline; after the fault is cleared, the offline sub-device is brought back online, and the handling robot and the offline sub-device are initialized so that they can resume performing their current task. In other words, without human intervention, the automatic loading and unloading machine can automatically take offline based on a detected fault, and automatically come back online and initialize after the fault is cleared. This avoids losses caused by the inability of personnel to control the equipment's online and offline status in a timely manner when a fault occurs, thereby ensuring that the automatic loading and unloading machine can be brought online and offline in an orderly manner. Attached Figure Description

[0051] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0052] Figure 1 This is an application scenario diagram of the automatic loading and unloading machine control method provided in the embodiments of this disclosure;

[0053] Figure 2 This is a schematic diagram of the structure of a handling robot provided in one embodiment of the present disclosure;

[0054] Figure 3 This is a schematic diagram of the structure of an automatic loading and unloading machine provided in one embodiment of the present disclosure;

[0055] Figure 4 A flowchart illustrating an embodiment of the automatic loading and unloading machine control method provided in this disclosure;

[0056] Figure 5 A flowchart illustrating an automatic loading and unloading machine control method provided in another embodiment of this disclosure;

[0057] Figure 6 For this disclosure Figure 5 The flowchart of step 202 in the illustrated embodiment is shown.

[0058] Figure 7 This is a schematic diagram showing the location distribution of the bins and shelves according to one embodiment of the present disclosure;

[0059] Figure 8 This is a schematic diagram showing the location distribution of the bins and shelves according to another embodiment of this disclosure;

[0060] Figure 9 A flowchart of an automatic loading and unloading machine control method provided in yet another embodiment of this disclosure;

[0061] Figure 10 For this disclosure Figure 9 The flowchart of step 303 in the illustrated embodiment is shown.

[0062] Figure 11 This is a schematic diagram of the structure of an automatic loading and unloading machine control device provided in one embodiment of the present disclosure;

[0063] Figure 12 This is a block diagram of a control device provided in one embodiment of the present disclosure.

[0064] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0065] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0066] In automated factories and smart warehousing, handling robots and automated loading and unloading machines (AGMs) are typically used in conjunction to load and unload goods. However, during the interaction between the AGMs and handling robots, errors in loading and unloading can occur due to misalignment of the material bins, or malfunctions can arise from equipment issues, preventing the continuation of loading and unloading operations. Therefore, the AGMs need to be taken offline for operators to troubleshoot the problems.

[0067] Currently, the automatic loading and unloading machine's online and offline status is manually controlled by staff, who will adjust the machine's online or offline status based on the on-site loading and unloading situation.

[0068] However, staff often fail to detect malfunctions in the automated loading and unloading machines in a timely manner, which makes it difficult to take the machines offline in a timely manner and ensure the orderly online and offline operation of the automated loading and unloading machines.

[0069] In addition, when staff take the automatic loading and unloading machine offline or online, they are doing so for the entire machine. However, the automatic loading and unloading machine includes multiple sub-machines such as the feeding machine and the unloading machine. If all sub-machines are taken offline due to the failure of one sub-machine, the working efficiency of the automatic loading and unloading machine will be greatly reduced.

[0070] This disclosure provides an automatic loading and unloading machine control method, device, control equipment, and readable storage medium, aiming to solve the above-mentioned technical problems of the prior art. The automatic loading and unloading machine control method, device, control equipment, and readable storage medium provided by this disclosure can realize the accurate and orderly online and offline operation of the automatic loading and unloading machine, and reduce the impact on the working efficiency of the automatic loading and unloading machine when controlling the online and offline operation of the automatic loading and unloading machine.

[0071] The technical solutions of this disclosure and how they solve the aforementioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this disclosure will now be described with reference to the accompanying drawings.

[0072] The application scenarios of the embodiments of this disclosure are explained below:

[0073] Figure 1 This is an application scenario diagram of the automatic loading and unloading machine control method provided in the embodiments of this disclosure, such as... Figure 1 As shown, this application scenario can be a loading and unloading system, which may include a handling robot 111, an automatic loading and unloading machine 112, and a control device 113. The control device 113 can establish communication links with the handling robot 111 and the automatic loading and unloading machine 112 respectively to control the automatic loading and unloading machine 112 and the handling robot 111. Specifically, the control device 113 may include an industrial control computer, a server, etc.

[0074] Optionally, the number of handling robots 111 can be one or more, and the number of automatic loading and unloading machines 112 can be one or more.

[0075] Among them, such as Figure 2As shown, the handling robot 111 includes a mobile chassis 1113, storage locations 1112, a handling device 1114, and a lifting assembly 1111. The storage locations 1112, the handling device 1114, and the lifting assembly 1111 are all mounted on the mobile chassis 1113. There can be multiple storage locations 1112. The lifting assembly 1111 drives the handling device 1114 to move vertically, aligning the handling device 1114 with any one of the multiple storage locations 1112, or with the shelf and / or goods. The handling device 1114 can rotate about a vertical axis to adjust its orientation, aligning with the storage location 1112, or with the shelf and / or goods. The handling device 1114 performs loading or unloading of goods, transporting goods between the shelf and the storage location 1112.

[0076] For example, the storage location 1112 can be configured or not configured. When the storage location 1112 is not configured, the goods are stored in the accommodating space of the handling device 1114 during the handling of goods by the handling robot 111.

[0077] Among them, such as Figure 3 As shown, the automatic loading and unloading machine 112 may include multiple sub-devices. Specifically, these multiple devices may be the power unit of the automatic loading and unloading machine, such as a feeder 1121, an unloader 1122, a small elevator (not shown in the figure), etc. The feeder 1121 and unloader 1122 of the automatic loading and unloading machine 112 may also be equipped with multiple shelves 1123, which can be arranged in layers. Optionally, the feeder 1121 and unloader 1122 may be located on the first side of the automatic loading and unloading machine 112, and the small elevator may be located on the second side of the automatic loading and unloading machine 112. Optionally, the first and second sides may be arranged opposite to each other. The automatic loading and unloading machine 112 may dock with the handling robot 111 on the first side and with other external equipment, such as a conveyor line, on the second side.

[0078] Figure 4 This is a flowchart of an automatic loading and unloading machine control method provided in one embodiment of the present disclosure. This automatic loading and unloading machine control can be applied to control devices in the aforementioned application environments, such as... Figure 4 As shown, the automatic loading and unloading machine control method provided in this embodiment may include the following steps:

[0079] 101. If a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot, the sub-equipment corresponding to the fault point in the automatic loading and unloading machine shall be taken offline.

[0080] The current task can be the task currently issued by the control equipment to the automatic loading and unloading machine and the handling robot. For example, the current task can include loading task, unloading task, etc.

[0081] The fault point can be any area in the loading and unloading system where a fault occurs.

[0082] In some implementations, the automated loading and unloading machine and the handling robot may be equipped with detection devices for detecting fault points. Optionally, the detection devices include, but are not limited to, high-definition cameras, distance sensors, pressure sensors, etc. Optionally, there may be multiple detection devices, which may be set in different positions on the automated loading and unloading machine and the handling robot. For example, multiple detection devices may be set on multiple sub-devices of the automated loading and unloading machine, or multiple detection devices may be set in multiple storage locations of the handling robot.

[0083] During the execution of the current task by the automated loading and unloading machine and the handling robot, each detection device can upload the detection data it detects to the control device. The control device can analyze whether the detection data is abnormal. If the detection data is abnormal, the detection area corresponding to the detection device that detected the data can be identified as the fault point.

[0084] As an example, the control equipment can determine whether the material bin is correctly placed on the target sub-device of the automatic loading and unloading machine based on image information captured by a high-definition camera. If the material bin is not correctly placed on the target sub-device, such as being misplaced, or the target sub-device not being included in the image information, then the target sub-device can be identified as a fault point, and the target sub-device in the automatic loading and unloading machine can be taken offline. There can be one or more target sub-devices; if there are multiple target sub-devices, all of them can be taken offline simultaneously.

[0085] As another example, the control equipment can determine whether the material box is properly placed on the target sub-equipment of the automatic loading and unloading machine based on the pressure information collected by the pressure sensor. If the material box is not properly placed on the target sub-equipment, such as if the weight of the material box exceeds the weight threshold, or if the weight of the material box is not detected on the target sub-equipment, the target sub-equipment can be identified as a fault point, and the target sub-equipment in the automatic loading and unloading machine can be taken offline.

[0086] As another example, the control equipment can determine whether the material box is properly placed on the target sub-equipment of the automatic loading and unloading machine based on the distance information collected by the distance sensor. If the material box is not properly placed on the target sub-equipment, such as if the distance information determines that the size of the material box does not meet the requirements or the material box is placed crookedly, then the target sub-equipment can be identified as a fault point, and the target sub-equipment in the automatic loading and unloading machine can be controlled to be taken offline.

[0087] As another example, the control equipment can combine high-definition cameras, distance sensors, and pressure sensors to determine whether the material bin is properly placed on the target sub-equipment of the automatic loading and unloading machine. If the control equipment detects that some or all of the detection results of the high-definition camera, distance sensor, and pressure sensor do not meet the conditions, it determines that the target sub-equipment is a fault point and controls the target sub-equipment to be taken offline.

[0088] Understandably, when a sub-device in an automated loading and unloading machine is taken offline, it can remain powered on, but the control device is disconnected from it; that is, the communication link between the control device and the sub-device is broken, and the sub-device will not receive task commands from the control device. In this situation, operators can control the automated loading and unloading machine independently through its built-in control interface.

[0089] 102. After troubleshooting, bring the offline sub-devices back online and initialize the handling robot and offline sub-devices so that they can resume their current tasks.

[0090] In some implementations, after the fault point is troubleshooted by personnel or through external equipment, the control device can bring the offline sub-devices back online and then perform initialization processing on the handling robot and the re-online sub-devices. Specifically, initialization processing of the handling robot and the re-online sub-devices can include controlling the handling robot and sub-devices to return to their working state before performing the current task, or to return to their position before performing the current task. Optionally, the initialization process can also include controlling the handling robot and the offline sub-devices to move the loading / unloading bins to their position before performing the current task, or to their position before performing the loading / unloading action.

[0091] It is understandable that when a sub-device in an automated loading and unloading machine is online, the sub-device can be in a powered-on state, and the control device is connected to the sub-device, that is, the communication link between the control device and the sub-device is in a connected state. The sub-device can receive task instructions issued by the control device and execute the task instructions.

[0092] In this embodiment, if a fault is detected during the execution of the current task by the automated loading and unloading machine and the handling robot, the sub-device corresponding to the fault point in the automated loading and unloading machine is taken offline. After the fault is cleared, the offline sub-device is brought back online, and the handling robot and the offline sub-device are initialized so that they can sequentially resume the current task. In other words, without human intervention, the automated loading and unloading machine can automatically take offline when a fault occurs. Specifically, it can selectively take offline the corresponding sub-device based on the location of the fault, thereby ensuring that fault-free sub-devices work normally, improving the efficiency of the automated loading and unloading machine. Then, after the fault is cleared, it automatically comes back online and initializes, avoiding losses caused by the inability of personnel to control the equipment's online and offline status in a timely manner when a fault occurs. This ensures that the automated loading and unloading machine maintains high efficiency while enabling orderly online and offline operation.

[0093] Figure 5 This is a flowchart illustrating an automatic loading and unloading machine control method according to another embodiment of this disclosure. This automatic loading and unloading machine control can be applied to control devices in the aforementioned application environment, such as... Figure 5 As shown, the automatic loading and unloading machine control method provided in this embodiment may include the following steps:

[0094] 201. If a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot, the sub-equipment corresponding to the fault point in the automatic loading and unloading machine shall be taken offline.

[0095] In some implementations, step 201 may include: if a fault point is detected, controlling the sub-equipment corresponding to the fault point in the automatic loading and unloading machine to go offline, and obtaining the position of the handling robot. If the position of the handling robot is within the designated work area, controlling the handling robot to stop moving.

[0096] As an example, the handling robot is equipped with a positioning device. The control device can receive the location information uploaded by the positioning device, and then determine whether the handling robot has entered a designated area based on the location information. If it has entered the designated area, the control device will keep the handling robot stationary. The designated working area can be the area where the handling robot loads and unloads materials using an automated loading and unloading machine.

[0097] As another example, a designated work area can be pre-equipped with robot detection devices, such as infrared sensors or electronic tag scanners, to detect whether a transport robot has entered. When a sub-equipment is unloaded, if a transport robot is detected in the area where the automatic loading and unloading machine is located, the loading and unloading work area is further detected. If the transport robot is detected to have entered the loading and unloading work area, the control equipment will control the transport robot to remain stationary.

[0098] In this embodiment, when the sub-equipment of the automatic loading and unloading machine is taken off the production line, the handling robot that has entered the designated work area is controlled to stop moving, thereby stopping the operation of the faulty equipment and making it convenient for staff to troubleshoot the fault in a timely manner.

[0099] In some other implementations, step 201 may include: if a fault point is detected, then detecting whether the sub-device corresponding to the fault point has an incomplete task instruction; if the sub-device corresponding to the fault point has an incomplete task instruction, then controlling the sub-device corresponding to the fault point to complete the incomplete task instruction, and controlling the sub-device corresponding to the fault point to go offline.

[0100] As an example, if the automatic loading and unloading machine has received a task instruction from the control device, it will execute the received task instruction and then take the sub-device corresponding to the fault point offline, thus facilitating the initialization process after the subsequent equipment comes online.

[0101] 202. After troubleshooting, bring the offline sub-devices back online and control the handling robot to switch back to the working state before the automatic loading and unloading machine interacts with the handling robot, so that the handling robot and the offline sub-devices can resume their current tasks.

[0102] Optionally, the working state of the handling robot before interacting with the automated loading and unloading machine can be the working state when the handling robot just receives the current task; or it can be the working state before the handling robot and the automated loading and unloading machine cooperate to perform loading and unloading actions. Correspondingly, the working state of the automated loading and unloading machine before interacting with the handling robot can also be the working state when it receives the current task, or the working state before cooperating with the handling robot to perform loading and unloading actions.

[0103] In some implementations, such as Figure 6 As shown, a specific implementation of step 202 may include:

[0104] 2021. Detect whether the movement of the handling robot and the off-line sub-equipment is obstructed by objects.

[0105] As an example, the handling robot and each sub-device of the automated loading and unloading can be equipped with an obstacle detection device to detect whether the execution of the action is obstructed by an object, and the obstacle detection device can detect whether the execution of the action of the handling robot and the off-line sub-device is obstructed by an object.

[0106] For example, the obstruction detection device may include a pressure sensor installed on the handling device of the handling robot. When the handling device pushes the hopper, if the pressure value detected by the pressure sensor exceeds the pressure threshold, the pushing action of the surface handling robot will be obstructed.

[0107] For example, the obstruction detection device may include a high-definition camera. This camera can be installed on the shelf of the unloading sub-equipment of an automated loading and unloading machine to collect image information of the bins and the shelf. The control equipment can then determine the relative positional relationship between the bins and the shelf based on this image information. Figure 7 As shown, if it is determined from the image information that the material box 120 is misaligned with the shelf 1123, and the material box 120 cannot be properly placed in the shelf when the material box 120 is misaligned with the shelf 1123, then it can be determined that the action of the offline sub-equipment is obstructed by an object.

[0108] As another example, if the position information of each transport robot detects that a transport robot performing other tasks is obstructing the movement of the transport robot performing the current task, it can be determined that the transport robot's action is obstructed by an object.

[0109] 2022. If there is no obstruction, control the handling robot to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and control the offline sub-devices to switch to the working state before the automatic loading and unloading machine interacts with the handling robot.

[0110] Optionally, the loading and unloading system may also include a reminder device electrically connected to the control equipment. This reminder device may be an audio playback device, a display device, etc. If the movement of the handling robot and the unloading sub-equipment is obstructed by an object, the control equipment may control the reminder device to issue a reminder message to remind the staff to detect that the movement of the handling robot and the automatic loading and unloading machine is obstructed.

[0111] In this embodiment, by detecting whether the actions of the handling robot and the offline sub-device are obstructed by objects, if there are no obstructions, the handling robot is controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and the offline sub-device is also controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, thereby ensuring that the initialization of the handling robot and the offline sub-device can be carried out in an orderly manner.

[0112] As a way, please refer to it again. Figure 6 Step 202 may further include:

[0113] 2023. Control the handling robot and the off-line sub-equipment to re-execute the current task.

[0114] After the handling robot is initialized and the offline sub-device is brought back online and initialized, the control device can resend the task instructions for the current task to the handling robot and the sub-device, instructing the handling robot and the sub-device to re-execute the actions corresponding to the current task.

[0115] 2024. If the handling robot and the offline sub-device have not completed the current task, return to the execution control to switch the handling robot to the working state before the automatic loading and unloading machine interacted with the handling robot, and control the offline sub-device to switch to the working state before the automatic loading and unloading machine interacted with the handling robot.

[0116] As an example, if the current task is to unload the hopper from the transport robot, and during the unloading process, it is detected that the transport robot and the offline sub-device are obstructed from performing the unloading action and cannot complete the current task, the control device can control the transport robot to switch to the working state before the automatic loading and unloading machine interacts with the transport robot, and control the offline sub-device to switch to the working state before the automatic loading and unloading machine interacts with the transport robot.

[0117] In other embodiments, specific implementations of step 202 may include:

[0118] If a material box is detected in the area corresponding to the fault point, the control of the handling robot and automatic loading and unloading machine will transport the material box to the position before the automatic loading and unloading machine interacts with the handling robot.

[0119] As an example, the sub-equipment that goes offline is the feeder of an automatic loading and unloading machine, such as... Figure 8 As shown, the automatic loading and unloading machine's feeder includes upper, middle, and lower shelves. If the detected fault point is specifically located on the middle shelf of the feeder, and there are material boxes placed on the middle and lower shelves, the control equipment can control the handling robot and the automatic loading and unloading machine to transport the material boxes on the middle shelf to the position before the automatic loading and unloading machine interacts with the handling robot. This achieves accurate initialization of the material boxes.

[0120] In yet another embodiment, the specific implementation of step 202 may include:

[0121] If at least two bins are detected on the automated loading and unloading machine, control the handling robot and the automated loading and unloading machine to transport the at least two bins to the positions before the automated loading and unloading machine interacts with the handling robot.

[0122] As an example, please refer again. Figure 8 The automatic loading and unloading machine's feeder consists of three layers of shelves: upper, middle, and lower. Both the middle and lower shelves hold material boxes. These boxes can be transported to their original positions on the automatic loading and unloading machine before interaction with the handling robot. For example, if the material boxes on both the middle and lower shelves were originally in the handling robot's first storage location, they can be transported back to their original positions on the handling robot during initialization. This allows the handling robot and the off-line sub-equipment to completely re-execute their current tasks.

[0123] Figure 4 This is a flowchart of an automatic loading and unloading machine control method provided in one embodiment of the present disclosure. This automatic loading and unloading machine control can be applied to control devices in the aforementioned application environments, such as... Figure 9 As shown, the automatic loading and unloading machine control method provided in this embodiment may include the following steps:

[0124] 301. If a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot, the sub-equipment corresponding to the fault point in the automatic loading and unloading machine shall be taken offline.

[0125] The specific implementation of step 301 can be referred to step 101, so it will not be repeated here.

[0126] 302. Control the handling robot and the offline sub-equipment to reverse the current task and check whether the fault point has been eliminated.

[0127] As an example, suppose the sub-device being produced is the unloader of an automated loading and unloading machine. The current task is for the transport robot to push a material box to the unloader. When reversing this task, the unloader can return the material box to the transport robot. Then, the detection equipment described in the above embodiment is used to perform fault detection, thereby determining whether the fault has been eliminated.

[0128] In some implementations, the current task may include multiple task process nodes. A specific implementation of step 301 includes: obtaining the task process node corresponding to the fault point among the multiple task process nodes as the fault process node; controlling the handling robot and the offline sub-device to switch to the task process node preceding the fault process node, and detecting whether the fault point has been eliminated.

[0129] In this embodiment, the faulty process node can also be used as the fault point.

[0130] As an example, multiple task process nodes may include a bin retrieval node, a bin transport node, and a bin loading node. If the faulty process node is the bin loading node, the handling robot and the off-line sub-device can be controlled to switch to the bin transport node, and the fault point can be checked by the detection device at the bin transport task process node.

[0131] It is understandable that when the control of the handling robot and the off-line sub-equipment switches from the bin loading node to the bin transport node, the position and movement of the handling robot and the off-line sub-equipment, as well as the position and posture of the bin, will switch to the state of the bin transport node.

[0132] As an example, if the fault point is not eliminated after switching to the previous task process node, the control device can control the handling robot and the offline sub-device to continue switching to the previous task process node and check whether the fault point has been eliminated. In this way, the fault points can be eliminated one by one according to the task process node to achieve accurate elimination of the fault point.

[0133] 303. After troubleshooting, bring the offline sub-devices back online and initialize the handling robot and offline sub-devices so that they can resume their current tasks.

[0134] In some implementations, the automated loading and unloading machine includes multiple sub-devices, such as Figure 10 As shown, a specific implementation of step 303 may include:

[0135] 3031. If a fault point is detected and the fault point is located on the automatic loading and unloading machine, the area where the fault point is located on the automatic loading and unloading machine is obtained as the target area.

[0136] As an example, if the fault is that a material box is misplaced on a shelf of the automatic loading and unloading machine, then the shelf where the material box is placed can be identified as the target area.

[0137] 3032. Obtain multiple sub-devices and the sub-devices corresponding to the target area as target sub-devices, and control the target sub-devices to go offline.

[0138] Continuing with the example above, since the target area is located at the feeder of the automatic loading and unloading machine, the feeder can be identified as the target sub-equipment, and its unloading can be controlled. This allows for precise unloading of sub-equipment based on the location of the fault point within the automatic loading and unloading machine.

[0139] Optionally, the multiple sub-equipment may include power units such as a feeder, unloader, small elevator, and conveying device. The conveying device can load the bins from the shelf of the automatic loading and unloading machine onto the conveying robot, or unload the bins from the conveying robot and store them on the shelf.

[0140] In other embodiments, step 320 may specifically include: if a fault point is detected, and the fault point is located on the handling robot, obtaining the sub-device corresponding to the task performed by the handling robot from among multiple sub-devices as the target sub-device. Controlling the target sub-device to be taken offline.

[0141] As an example, if the fault is located on transport robot A, and robot A's current task is to transport tins to the automated loading and unloading machine for unloading, then the unloading machine of the automated loading and unloading machine corresponds to the task performed by robot A. Therefore, the unloading machine can be designated as the target sub-device, and its removal from the production line can be controlled. Similarly, if the fault is located on transport robot B, and robot B's current task is to load tins at the automated loading and unloading machine, then the loading machine of the automated loading and unloading machine corresponds to the task performed by robot B. Therefore, the loading machine can be designated as the target sub-device, and its removal from the production line can be controlled. This allows for precise removal of sub-devices based on the task corresponding to the faulty transport robot.

[0142] In some implementations, the method further includes:

[0143] 304. If a control operation is received from the user on the control display interface, the corresponding sub-device in the automatic loading and unloading process will be brought online or offline according to the control operation.

[0144] In one approach, the control device can be equipped with a touchscreen that displays a control interface. This interface can include icons corresponding to multiple control operations. User control operations can involve touching these icons. When a user touches an icon, the control device generates a corresponding control command based on the touched icon and sends this command to the automatic loading and unloading system to instruct it to perform the corresponding loading and unloading actions. Optionally, the control interface can include icons for whole machine loading, whole machine unloading, loading machine unloading, unloading machine unloading, one-click loading, manual mode, loading machine initialization, and unloading machine initialization. Optionally, the control interface can also display information such as the robot number, location, and working status of the robot currently performing the task.

[0145] Optionally, the control display interface may also include distribution information and status information of multiple automatic loading and unloading machines. The status information of multiple automatic loading and unloading machines can be updated in real time according to the detected fault points. For example, when an automatic unloading machine is offline, its status displayed on the control display interface will be "offline".

[0146] It is understood that step 304 can be implemented after step 303, before step 303, or before any of steps 301 to 303, without any limitation.

[0147] In this embodiment, the current task is executed in reverse by controlling the handling robot and the offline sub-device, and the fault point is checked to see if it is eliminated. Since the fault point is automatically eliminated when the handling robot and the offline sub-device execute the current task in reverse, such as the misplaced material box on the unloading machine shelf, the fault point of the unloading machine shelf can be eliminated after returning to the handling robot. Thus, the fault point can be automatically eliminated in this way, avoiding the manpower consumed by manual elimination and improving the efficiency of fault elimination.

[0148] Figure 11 This is a schematic diagram of the structure of an automatic loading and unloading machine control device provided in one embodiment of the present disclosure, as shown below. Figure 11 As shown, this automatic loading and unloading machine control device is used as a control equipment in a loading and unloading system. The loading and unloading system includes control equipment, an automatic loading and unloading machine control system, and a handling robot. The automatic loading and unloading machine control device includes:

[0149] The offline control module 41 is used to control the sub-equipment corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot.

[0150] The online and initialization control module 42 is used to control the offline sub-devices to come online after the fault point is eliminated, and to perform initialization processing on the handling robot and the offline sub-devices so that the handling robot and the offline sub-devices can re-execute the current task.

[0151] Optionally, the offline control module 41 includes:

[0152] The location acquisition unit is used to control the sub-equipment corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected, and to acquire the position of the handling robot.

[0153] The stop unit is used to control the handling robot to stop moving if the robot is located in the designated work area.

[0154] Optionally, the offline control module 41 includes:

[0155] The instruction detection unit is used to detect whether the sub-device corresponding to the fault point has an incomplete task instruction if a fault point is detected.

[0156] The execution unit is used to control the sub-device corresponding to the fault point to complete the execution of the unfinished task instructions and to take the sub-device corresponding to the fault point offline if the sub-device corresponding to the fault point has unfinished task instructions.

[0157] Optionally, the online and initialization control module 42 includes:

[0158] The initialization unit is used to control the handling robot to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and to control the offline sub-devices to switch to the working state before the automatic loading and unloading machine interacts with the handling robot.

[0159] Optionally, the initialization unit is specifically used to detect whether the actions of the handling robot and the offline sub-device are obstructed by objects; if there are no obstructions, the handling robot is controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and the offline sub-device is controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot.

[0160] The automatic loading and unloading machine control device also includes:

[0161] The restart module is used to control the handling robot and the offline sub-devices to re-execute the current task.

[0162] The return module is used to return to the working state before the automatic loading and unloading machine interacted with the handling robot and the offline sub-device if the handling robot and the offline sub-device have not completed the current task.

[0163] Optionally, the initialization unit is also used to control the handling robot and the automatic loading and unloading machine to transport the material box to the position before the automatic loading and unloading machine interacts with the handling robot if a material box is detected in the area corresponding to the fault point.

[0164] Optionally, the initialization unit is also configured to, if it detects that there are at least two bins on the automatic loading and unloading machine, control the handling robot and the automatic loading and unloading machine to transport the at least two bins to the positions before the automatic loading and unloading machine interacts with the handling robot.

[0165] Optionally, the automatic loading and unloading machine control device further includes:

[0166] The reverse execution module controls the handling robot and the offline sub-devices to reverse the current task and detect whether the fault point has been eliminated.

[0167] Optionally, the current task includes multiple task process nodes. The reverse execution module is specifically used to obtain the task process node corresponding to the fault point among the multiple task process nodes, and use it as the fault process node; control the handling robot and the offline sub-device to switch to the task process node before the fault process node, and detect whether the fault point has been eliminated.

[0168] Optionally, the automatic loading and unloading machine includes multiple sub-devices, and the offline control module 41 includes:

[0169] The target area detection unit is used to obtain the area on the automatic loading and unloading machine where the fault point is detected as the target area if the fault point is detected and the fault point is located on the automatic loading and unloading machine.

[0170] The offline unit is used to acquire multiple sub-devices and the sub-devices corresponding to the target area as target sub-devices, and control the target sub-devices to go offline.

[0171] Optionally, the multiple sub-equipment includes a feeder and a discharger.

[0172] Optionally, the offline control module 41 is specifically used to, if a fault point is detected and the fault point is located on the handling robot, obtain the sub-device corresponding to the task performed by the handling robot among multiple sub-devices as the target sub-device; and control the target sub-device to be offline.

[0173] Optionally, the automatic loading and unloading machine control device further includes:

[0174] The operation module is used to control the corresponding sub-device in the automatic loading and unloading process to go online or offline if it receives a control operation from the user on the control display interface.

[0175] For example, this embodiment can refer to the above method embodiment, and its principle and technical effect are similar, so they will not be repeated here.

[0176] Figure 12 This is a schematic diagram of the structure of a control device provided in an embodiment of this disclosure, such as... Figure 12 As shown, the control device includes a memory 53 and a processor 52.

[0177] Memory 53 is used to store executable instructions of processor 52.

[0178] The processor 52 is configured to perform the methods provided in the above embodiments.

[0179] The electronic device also includes a receiver 50 and a transmitter 51. The receiver 50 is used to receive instructions and data sent by an external device, and the transmitter 51 is used to send instructions and data to an external device.

[0180] This disclosure provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the automatic loading and unloading machine control method provided in any of the above embodiments of this disclosure.

[0181] The computer-readable storage medium can be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0182] This disclosure also provides a computer program product, which includes: a computer program stored in a readable storage medium, at least one processor of an electronic device being able to read the computer program from the readable storage medium, and at least one processor executing the computer program causing the electronic device to perform the solution provided in any of the above embodiments.

[0183] In the several embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0184] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0185] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A control method for an automatic loading and unloading machine, characterized in that, A control device applied to a loading and unloading system, the loading and unloading system including the control device, an automatic loading and unloading machine control, and a handling robot, the method comprising: If a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot, the sub-device corresponding to the fault point in the automatic loading and unloading machine will be taken offline. After the fault point is eliminated, the handling robot and the offline sub-device are controlled to reverse the current task and check whether the fault point has been eliminated. If the fault point is eliminated, the offline sub-device is controlled to come online and the handling robot and the offline sub-device are initialized so that the handling robot and the offline sub-device can re-execute the current task. If a fault point is detected, the sub-equipment corresponding to the fault point in the automatic loading and unloading machine is taken offline, including: If a fault point is detected, then check whether the sub-device corresponding to the fault point has an incomplete task instruction; If the sub-device corresponding to the fault point has an incomplete task instruction, then control the sub-device corresponding to the fault point to complete the incomplete task instruction and control the sub-device corresponding to the fault point to go offline. The initialization process for the transport robot and the offline sub-device includes: Control the transport robot to switch to the working state before the automatic loading and unloading machine interacts with the transport robot, and control the offline sub-devices to switch to the working state before the automatic loading and unloading machine interacts with the transport robot.

2. The method according to claim 1, characterized in that, If a fault point is detected, the sub-equipment corresponding to the fault point in the automatic loading and unloading machine is taken offline, including: If a fault point is detected, the sub-device corresponding to the fault point in the automatic loading and unloading machine is taken offline, and the position of the handling robot is obtained. If the transport robot is located within the designated work area, then control the transport robot to stop moving.

3. The method according to claim 1, characterized in that, The control of the handling robot to switch to the working state before the interaction between the automatic loading and unloading machine and the handling robot, and the control of the offline sub-device to switch to the working state before the interaction between the automatic loading and unloading machine and the handling robot, includes: Detect whether the actions of the handling robot and the offline sub-equipment are obstructed by objects; If there are no obstructions, the handling robot is controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and the offline sub-device is also controlled to switch to the working state before the automatic loading and unloading machine interacts with the handling robot.

4. The method according to claim 3, characterized in that, After controlling the handling robot to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and controlling the offline sub-device to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, the method further includes: Control the handling robot and the offline sub-device to re-execute the current task; If the transport robot and the offline sub-device have not completed the current task, return to the operation state before the automatic loading and unloading machine interacts with the transport robot, and control the offline sub-device to switch back to the operation state before the automatic loading and unloading machine interacts with the transport robot.

5. The method according to claim 1, characterized in that, The initialization process for the transport robot and the offline sub-device also includes: If a material box is detected in the area corresponding to the fault point, the handling robot and the automatic loading and unloading machine are controlled to transport the material box to the position before the automatic loading and unloading machine interacts with the handling robot.

6. The method according to claim 1, characterized in that, The initialization process for the transport robot and the offline sub-device also includes: If at least two bins are detected on the automatic loading and unloading machine, the handling robot and the automatic loading and unloading machine are controlled to transport the at least two bins to the positions before the automatic loading and unloading machine interacts with the handling robot.

7. The method according to claim 1, characterized in that, The current task includes multiple task process nodes. Controlling the handling robot and the offline sub-device to execute the current task in reverse, and detecting whether the fault point has been eliminated, includes: Obtain the task process node corresponding to the fault point from among the multiple task process nodes, and use it as the fault process node; Control the transport robot and the offline sub-device to switch to the previous task process node of the faulty process node, and check whether the fault point has been eliminated.

8. The method according to claim 1, characterized in that, The automatic loading and unloading machine includes multiple sub-devices. If a fault point is detected, the sub-device corresponding to the fault point in the automatic loading and unloading machine is taken offline, including: If a fault point is detected, and the fault point is located on the automatic loading and unloading machine, the area on the automatic loading and unloading machine where the fault point is located is obtained as the target area; The sub-devices corresponding to the target area among the multiple sub-devices are identified as target sub-devices, and the target sub-devices are taken offline.

9. The method according to claim 8, characterized in that, The multiple sub-equipment includes a feeder and a discharger.

10. The method according to claim 1, characterized in that, The automatic loading and unloading machine includes multiple sub-devices. If a fault point is detected, controlling the sub-device corresponding to the fault point in the automatic loading and unloading machine to go offline includes: If a fault point is detected, and the fault point is located on the handling robot, the sub-device corresponding to the task performed by the handling robot among the plurality of sub-devices is selected as the target sub-device; Control the target sub-device to be taken offline.

11. The method according to any one of claims 1 to 10, characterized in that, The method further includes: If a control operation is received from the user on the control display interface, the corresponding sub-device in the automatic loading and unloading process will be brought online or offline according to the control operation.

12. An automatic loading and unloading machine control device, characterized in that, A control device applied to a loading and unloading system, the loading and unloading system including the control device, an automatic loading and unloading machine control system, and a handling robot, the device comprising: The offline control module is used to control the sub-device corresponding to the fault point in the automatic loading and unloading machine to go offline if a fault point is detected during the execution of the current task by the automatic loading and unloading machine and the handling robot. The online and initialization control module is used to control the handling robot and the offline sub-device to reverse the current task after the fault point is eliminated, and to detect whether the fault point is eliminated. If the fault point is eliminated, the module controls the offline sub-device to come online and performs initialization processing on the handling robot and the offline sub-device so that the handling robot and the offline sub-device can re-execute the current task. The offline control module includes an instruction detection unit and an execution unit. In the aspect of controlling the offline operation of the sub-equipment corresponding to the fault point in the automatic loading and unloading machine if a fault point is detected: The instruction detection unit is used to detect whether the sub-device corresponding to the fault point has an incomplete task instruction if a fault point is detected. The execution unit is configured to, if the sub-device corresponding to the fault point has an incomplete task instruction, control the sub-device corresponding to the fault point to complete the incomplete task instruction, and control the sub-device corresponding to the fault point to go offline. The online and initialization control module is specifically used to control the handling robot to switch to the working state before the automatic loading and unloading machine interacts with the handling robot, and to control the offline sub-device to switch to the working state before the automatic loading and unloading machine interacts with the handling robot.

13. A control device, characterized in that, include: Memory and processor; Memory, used to store the processor-executable instructions; The processor is configured to perform the method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 11.

15. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1 to 11.

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