Decision-making method, device, electronic equipment and medium for steel grab unloading

Abstract

The present application provides a decision-making method, device, electronic equipment and medium for unloading of steel grabbers, which relates to the technical field of decision-making planning. The method detects the operating status of the end effector of the steel grabber in response to the arrival information of the transport vehicle. If the operating status is abnormal, a control prompt message is generated. If the operating status is normal, the current status of the transport vehicle is determined. If the current status of the transport vehicle is in motion, the steel grabber is controlled to grab the material in the transport vehicle according to the moving direction and the first grabbing rule. If the current status of the transport vehicle is stationary, the steel grabber is controlled to grab the material in the transport vehicle according to the loading height, preset height and second grabbing rule of the material in the transport vehicle compartment. The operation process of the steel loader can be standardized, the operation efficiency can be improved, and the intelligent operation of the steel grabber can be realized without the assistance of ground personnel, which can further improve the safety of the operation of the steel grabber.

Description

Technical Field

[0001] The present application relates to the technical field of decision-making and planning, and specifically to a decision-making method, device, electronic equipment and medium for unloading steel grabbers. Background Art

[0002] As demand for steel products continues to rise, the output of Chinese steel companies continues to grow. At the same time, scrap steel recycling has become a means for companies to reduce costs and increase efficiency. However, there are many problems in the scrap steel unloading process at steel mills:

[0003] 1. Low efficiency in scrap steel loading and unloading: To reduce costs, many steel mills choose non-dump trucks to transport scrap steel. Although this reduces costs, the manual operation of the steel grabber for grabbing and unloading results in low efficiency.

[0004] 2. Insufficient standards for scrap steel unloading operations: During the scrap steel unloading operation, ground personnel are often unable to maintain a safe position when assisting in the manual operation of the steel grabber, posing a safety hazard. Summary of the Invention

[0005] In view of the shortcomings of the above-mentioned related technologies, the present application provides a decision-making method, device, electronic equipment and medium for unloading of a steel grabber to solve the above-mentioned technical problems.

[0006] The present application provides a decision-making method for unloading a steel grabber, the method comprising:

[0007] In response to the information that the transport vehicle has arrived, the operating state of the end effector of the steel grabber is detected, and the operating state is a normal state or an abnormal state;

[0008] If the operating state is abnormal, a control prompt message is generated to instruct the staff to remotely and manually control the steel grabber;

[0009] If the operating state is a normal state, determining the current state of the transport vehicle, wherein the current state is a stationary state or a moving state;

[0010] If the current state of the transport vehicle is a moving state, determining the moving direction of the transport vehicle, and controlling the steel grabber to grab the material in the transport vehicle according to the moving direction and the first grabbing rule, wherein the moving direction is forward or backward;

[0011] If the current state of the transport vehicle is stationary, the steel grabber is controlled to grab the material in the transport vehicle according to the loading height of the material in the transport vehicle compartment, the preset height and the second grabbing rule.

[0012] In one embodiment of the present application, in response to the arrival information of the transport vehicle, before detecting the operating status of the end effector of the steel grabber, the method further includes:

[0013] Determine whether the current state of the steel grabber meets the preset startup requirements;

[0014] If the current state of the steel grabber meets the preset start-up requirements, receiving the transport vehicle arrival information that the transport vehicle has arrived at the preset position;

[0015] If the current state of the steel grabber does not meet the preset startup requirements, a repair prompt message is generated to instruct the staff to repair the steel grabber.

[0016] In one embodiment of the present application, before receiving the transport vehicle arrival information indicating that the transport vehicle has arrived at the preset location, the method further includes:

[0017] When the steel grabber starts to move or the end effector of the steel grabber starts to move, the control prompt information is generated.

[0018] In one embodiment of the present application, controlling the steel grabber to grab the material in the transport vehicle according to the moving direction and the first grabbing rule includes:

[0019] If the moving direction is forward, the steel grabber grabs vertically;

[0020] If the moving direction is backward, the steel grabber grabs the steel from the rear end of the transport vehicle compartment to the front.

[0021] In one embodiment of the present application, according to the loading height of the material in the transport vehicle compartment, the preset height and the second grabbing rule, the steel grabber is controlled to grab the material in the transport vehicle, including:

[0022] Determining the loading amount of the material in the transport vehicle compartment according to the loading height and the preset height;

[0023] If the load is excessive, the steel grabber grabs the steel vertically;

[0024] If the loading amount is a constant loading amount, the steel grabber will grab the steel laterally from the rearmost end of the transport vehicle compartment where the steel is currently loaded.

[0025] In one embodiment of the present application, determining the loading amount of the material in the transport vehicle compartment according to the loading height and the preset height includes:

[0026] If the loading height is greater than the preset height, the loading amount is overloaded;

[0027] If the loading height is less than or equal to the preset height, the loading amount is constant loading.

[0028] In one embodiment of the present application, after generating the manipulation prompt information, the method further includes:

[0029] If the remote takeover information corresponding to the control prompt information is received, a control success information is generated to prompt the staff to successfully perform remote manual control of the steel grabber;

[0030] If the remote takeover information corresponding to the operation prompt information is not received, a repair prompt information is generated to instruct the staff to repair the steel grabber.

[0031] To achieve the above-mentioned and other related purposes, the present application provides a decision-making device for unloading a steel grabber, comprising:

[0032] a judgment module, configured to detect the operating state of the end effector of the steel grabber in response to the information that the transport vehicle has arrived, and the operating state is either a normal state or an abnormal state;

[0033] A first control module is configured to generate a control prompt message to instruct a worker to remotely and manually control the steel grabber if the operating state is abnormal;

[0034] A state determination module, configured to determine the current state of the transport vehicle if the operating state is a normal state, wherein the current state is a stationary state or a moving state;

[0035] a second control module, configured to determine a moving direction of the transport vehicle if the current state of the transport vehicle is a moving state, and control the steel grabber to grab the material in the transport vehicle according to the moving direction and a first grabbing rule, wherein the moving direction is forward or backward;

[0036] The third control module is used to control the steel grabber to grab the material in the transport vehicle according to the loading height, preset height and second grabbing rule of the material in the transport vehicle compartment if the current state of the transport vehicle is a stationary state.

[0037] To achieve the above-mentioned and other related purposes, the present application further provides an electronic device, comprising:

[0038] one or more processors;

[0039] A storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the decision-making method for unloading the steel grabber as described above.

[0040] To achieve the above-mentioned purpose and other related purposes, the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by the computer processor, the computer executes the decision-making method for unloading the steel grabber as described above.

[0041] As described above, the present application provides a steel grabber unloading decision-making method, device, electronic equipment, and medium, which have the following beneficial effects:

[0042] The present application discloses a decision-making method for unloading materials by a steel grabber. The method detects the operating status of the end effector of the steel grabber in response to the arrival information of the transport vehicle. If the operating status is abnormal, a control prompt message is generated to instruct the staff to remotely and manually control the steel grabber. If the operating status is normal, the current status of the transport vehicle is determined. If the current status of the transport vehicle is in motion, the moving direction of the transport vehicle is determined, and the steel grabber is controlled to grab the materials in the transport vehicle according to the moving direction and the first grabbing rule. If the current status of the transport vehicle is stationary, the steel grabber is controlled to grab the materials in the transport vehicle according to the loading height, preset height and second grabbing rule of the materials in the transport vehicle compartment. By setting preset grabbing rules and judging various conditions in the actual operation of the steel grabber, and then controlling the steel grabber to work, the operation process of the steel loading machine can be standardized, the operation efficiency can be improved, and the intelligent operation of the steel grabber can be realized without the assistance of ground personnel, which can further improve the safety of the steel grabber operation.

[0043] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0045] Figure 1 is a flow chart of a decision-making method for unloading a steel grabber, shown in an exemplary embodiment of the present application;

[0046] Figure 2 is a flow chart of a decision method for unloading a steel grabber shown in another exemplary embodiment of the present application;

[0047] Figure 3 It is a block diagram of a decision-making device for unloading a steel grabber shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will describe the embodiments of the present application with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand the other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for the purpose of illustrating the present application and are not intended to limit the scope of protection of the present application.

[0049] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0050] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0051] See also Figure 1 , Figure 1 This is a flow chart of a decision method for unloading a steel grabber, shown in an exemplary embodiment of the present application. Figure 1 It can be seen that the decision-making method for the steel grab unloading can include:

[0052] Step S110 , in response to the information that the transport vehicle has arrived, the operating state of the end effector of the steel grabber is detected, and the operating state is normal or abnormal.

[0053] In one embodiment of the present application, the steel grabber can detect the operating status of the end effector of the steel grabber in response to the arrival information of the transport vehicle. The end effector can be any of a variety of grippers such as a plum blossom gripper, a hydraulic gripper, a sharp claw gripper, etc. Detecting the operating status of the end effector of the steel grabber is to detect whether the end effector can operate normally. The steel grabber can first specify the movement rules of the end effector. When the end effector can move normally according to the movement rules of the steel grabber, it can be determined that the end effector is in a normal state. When the end effector cannot move normally according to the movement rules of the steel grabber, it can be determined that the end effector is in an abnormal state.

[0054] It should be noted that the transport vehicle arrival information can be identified by the ground management system and transmitted to the steel grabber, or it can be identified by an identification device installed on the steel grabber to obtain the transport vehicle arrival information. This embodiment of the present application does not limit this.

[0055] It should be noted that, in the embodiment of the present application, the transport vehicle may be a non-dump truck.

[0056] In an exemplary embodiment, before executing step S110 , steps S210 to S230 may be executed.

[0057] Step S210: Determine whether the current state of the steel grabber meets the preset startup requirements.

[0058] In one embodiment of the present application, before the steel grabber starts working, it can be determined whether the current state of the steel grabber meets the preset starting requirements. The preset starting requirements can be requirements such as the engine working normally and the power or fuel level meeting the working needs.

[0059] Step S220: If the current state of the steel grabber meets the preset startup requirements, then receive the transport vehicle arrival information that the transport vehicle has arrived at the preset position.

[0060] In one embodiment of the present application, if the current state of the steel grabber meets the preset startup requirements, the steel grabber can operate normally and wait to receive a transport vehicle arrival information indicating that the transport vehicle has arrived at the preset location in order to proceed with subsequent operation steps. The preset location can be pre-set by the operator, and when the transport vehicle arrives at the preset location, the steel grabber can grab the material inside the transport vehicle at the preset location.

[0061] It should be noted that if the steel grabber starts to move or the end effector of the steel grabber starts to move while waiting for the information that the transport vehicle has arrived, a control prompt message will be generated to instruct the staff to remotely and manually control the steel grabber. If the steel grabber starts to move or the end effector starts to move while waiting for the information that the transport vehicle has arrived, the steel grabber is in an abnormal working state. At this time, a control prompt message needs to be generated. After the staff knows the control prompt message, they can remotely and manually control the steel grabber. The control prompt message can be displayed on the display screen or in the form of voice playback, which is not limited in this embodiment of the present application.

[0062] It should be noted that in the embodiment of the present application, after the operation prompt information is generated, if the remote takeover information corresponding to the operation prompt information is received within the preset time, a control success information is generated to prompt the staff to successfully remotely manually operate the steel grabber; if the remote takeover information corresponding to the operation prompt information is not received within the preset time, a repair prompt information is generated to instruct the staff to repair the steel grabber. If the operation is tight, the driver can directly operate the steel grabber to unload the material to avoid affecting the subsequent process. After the day's operation tasks are completed, the staff can repair the steel grabber. The preset time can be set by the staff according to the actual operation conditions of the relevant equipment.

[0063] For example, when the steel grabber generates an operation prompt message, the staff can remotely and manually control the steel grabber by sending a remote takeover message to the steel grabber through the remote operation platform. In actual application, this can be intuitively displayed through an indicator light associated with the reception of remote takeover information. If the indicator light is on, the steel grabber has received the remote takeover message corresponding to the operation prompt message, and the staff can remotely and manually control the steel grabber. If the indicator light is off, the steel grabber has not received the remote takeover message corresponding to the operation prompt message, and the staff needs to repair the steel grabber.

[0064] Step S230: If the current state of the steel grabber does not meet the preset startup requirements, a repair prompt message is generated to instruct the staff to repair the steel grabber.

[0065] In one embodiment of the present application, if the current state of the steel grabber does not meet the preset startup requirements, a repair prompt message may be generated to instruct the operator to repair the steel grabber. If the current state of the steel grabber does not meet the preset startup requirements, it can be determined that a working component related to the steel grabber has failed, and the steel grabber needs to be repaired.

[0066] Step S120: If the operating state is abnormal, a control prompt message is generated to instruct the staff to remotely and manually control the steel grabber.

[0067] In one embodiment of the present application, if the operating state of the end effector is abnormal, a control prompt message may be generated to instruct the staff to remotely and manually control the steel grabber. After the control prompt message is generated, if the remote takeover message corresponding to the control prompt message is received within a preset time, a control success message is generated to inform the staff that the remote manual control of the steel grabber has been successfully performed; if the remote takeover message corresponding to the control prompt message is not received within the preset time, a repair prompt message is generated to instruct the staff to repair the steel grabber.

[0068] Step S130: If the operating state is normal, determine the current state of the transport vehicle.

[0069] The current state is a stationary state or a moving state.

[0070] In one embodiment of the present application, if the end effector is in a normal state, the current state of the transport vehicle can be determined. Since different gripping rules correspond to the transport vehicle in a stationary state or in a moving state, the current state of the transport vehicle needs to be determined first.

[0071] It should be noted that the current status of the transport vehicle can be determined by detection equipment such as laser radar installed on the steel grabber, and the ground management system can also identify the current status of the vehicle and transmit the current status to the steel grabber.

[0072] Step S140: If the current state of the transport vehicle is a moving state, the moving direction of the transport vehicle is determined, and the steel grabber is controlled to grab the material in the transport vehicle according to the moving direction and the first grabbing rule.

[0073] The moving direction is forward or backward.

[0074] In one embodiment of the present application, if the current state of the transport vehicle is a moving state, the moving direction of the transport vehicle can be determined, and the steel grabber can be controlled to grab the material in the transport vehicle according to the moving direction and the first grabbing rule.

[0075] For example, the steel grabber can be equipped with a laser radar, which can determine the direction of movement of the transport vehicle through laser radar scanning, and determine whether the transport vehicle has moved and the direction of movement based on the transport vehicle's position over a certain period of time. The ground management system can also identify the direction of movement of the transport vehicle and transmit this direction to the steel grabber.

[0076] It should be noted that if the moving direction of the transport vehicle cannot be identified, a control prompt message can be generated and subsequent operation steps can be performed.

[0077] In an exemplary embodiment, step S140 controls the steel grabber to grab the material in the transport vehicle according to the moving direction and the first grabbing rule. The moving direction is forward or backward, and the process may include step S141 and step S142.

[0078] Step S141: If the moving direction is forward, the steel grabber grabs vertically.

[0079] In one embodiment of the present application, the transport vehicle moves forward, and the steel grabber begins vertically grabbing at the front end of the transport vehicle compartment. During grabbing, the transport vehicle and the steel grabber cooperate with each other. After the steel grabber vertically grabs the material that can be grabbed by the end effector in the transport vehicle compartment, the transport vehicle moves forward a certain distance (this distance can be pre-set by the staff to meet the requirements of the coordinated grabbing of the steel grabber and the transport vehicle). After the transport vehicle moves forward a certain distance, the steel grabber begins vertically grabbing again. The above process is repeated until all the materials in the transport vehicle are grabbed by the steel grabber. In other words, the steel grabber grabs vertically from the front end of the transport vehicle compartment to the rear.

[0080] Step S142: If the moving direction is backward, the steel grabber grabs the steel horizontally from the rear end of the transport vehicle compartment to the front.

[0081] In one embodiment of the present application, if the moving direction is backward, the steel grabber grabs the material laterally from the rear end of the transport vehicle compartment to the front, so that as much material as possible can be grabbed.

[0082] Step S150: If the current state of the transport vehicle is a stationary state, the steel grabber is controlled to grab the material in the transport vehicle according to the loading height of the material in the transport vehicle compartment, the preset height and the second grabbing rule.

[0083] In one embodiment of the present application, if the current state of the transport vehicle is a stationary state, the loading capacity can be determined first based on the loading height and preset height of the material in the transport vehicle compartment, and the steel grabber can be controlled to grab the material in the transport vehicle based on the loading capacity and the second collision rule.

[0084] In an exemplary embodiment, step S150 is a process of controlling the steel grabber to grab the material in the transport vehicle according to the loading height of the material in the transport vehicle compartment, the preset height and the second grabbing rule, and may include steps S151 to S153.

[0085] Step S151 : determining the loading amount of materials in the transport vehicle compartment according to the loading height and the preset height.

[0086] In one embodiment of the present application, the loading capacity of the material in the transport vehicle compartment can be determined based on the loading height and the preset height, and different loading capacities correspond to different grabbing methods in the second grabbing rule.

[0087] It should be noted that if the loading height is greater than the preset height, the loading amount is considered overloaded, and if the loading height is less than or equal to the preset height, the loading amount is considered normal loading. The loading amount can be identified by an identification device installed on the steel grabber or a ground management system.

[0088] It should be noted that if the loading amount of the materials in the transport vehicle compartment cannot be identified, an operation prompt message can be generated and subsequent operation steps can be performed.

[0089] Step S152: If the load is excessive, the steel grabber first grabs vertically and then changes to grabbing horizontally.

[0090] In one embodiment of the present application, if the load is overloaded, the steel grabber can grab vertically, and the load can be obtained in real time during the grabbing process. After the load changes from overloaded to constant load, the steel grabber can be changed to horizontal grabbing.

[0091] Step S153: If the loading amount is a constant loading amount, the steel grabber grabs the steel horizontally from the rear end of the transport vehicle compartment where the goods are currently loaded.

[0092] In one embodiment of the present application, if the loading amount is constant loading, the steel grabber grabs the steel laterally from the rearmost end of the transport vehicle compartment where the steel is currently loaded.

[0093] For example, Figure 2 Figure 1 is a flowchart illustrating a method for making decisions about unloading a steel grabber, according to another exemplary embodiment of the present application. The method first determines whether the current state of the steel grabber meets preset startup requirements. If not, a repair prompt message can be generated to instruct the operator to repair the steel grabber. If so, the steel grabber can be started and wait for the arrival of a transport vehicle. If the steel grabber or its end effector begins to move while waiting for the arrival of the transport vehicle, a control prompt message can be generated to prompt the operator to remotely and manually control the steel grabber. If neither the steel grabber nor the end effector moves while waiting for the arrival of the transport vehicle, the operation status of the steel grabber's end effector can be determined to be normal upon receiving the arrival of the transport vehicle. A detection action for the end effector can be pre-set. If the end effector correctly executes the detection action, the operation status of the end effector can be determined to be normal; otherwise, it is abnormal. If the operation status of the end effector is abnormal, a control prompt message can be generated. If the operation status of the end effector is normal, the current state of the transport vehicle can be determined. If the current state of the transport vehicle is in motion, the gripping method of the steel grabber can be determined based on the direction of movement. If the transport vehicle is currently stationary, the load capacity can be used to determine the steel grabber's gripping method. Furthermore, if the transport vehicle's current state, load capacity, or direction of movement cannot be identified (or obtained), a control prompt can be generated to prompt the operator to remotely and manually control the steel grabber, further improving its operational safety.

[0094] The steel grabber unloading decision-making method provided in the embodiment of the present application first greatly improves the production efficiency of the steel grabber by adding the decision-making strategy of a skilled scrap steel loading and unloading steel grabber operator on the basis of unmanned operation. Secondly, because it can imitate the decision-making strategy of a skilled operator, the steel grabber will continuously repeat similar efficient action strategies, which will reduce human errors. Due to the implementation of the unmanned strategy of the steel grabber, the trajectory and action are relatively fixed and controllable, protecting the safety of personnel. Finally, because the grasping and unloading decisions of skilled operators are imitated, the unmanned steel grabber will operate 24 hours a day due to such decisions, which can improve operating efficiency.

[0095] It should be noted that the steel grabber unloading decision-making method provided in the embodiments of this application can be implemented as an expert system, enabling the steel grabber to make autonomous decisions. Combined with a sensing and control system, this system can be operated unmanned. Because the expert system has clear, interpretable rules, it can promptly hand over to human intervention if an input outside of the rules is encountered, reducing uncontrollable factors and significantly improving safety.

[0096] In summary, the solution of the embodiment of the present application detects the operating status of the end effector of the steel grabber in response to the information that the transport vehicle has arrived. If the operating status is abnormal, a control prompt message is generated to instruct the staff to remotely and manually control the steel grabber. If the operating status is normal, the current status of the transport vehicle is determined. If the current status of the transport vehicle is in motion, the moving direction of the transport vehicle is determined, and the steel grabber is controlled to grab the material in the transport vehicle according to the moving direction and the first grabbing rule. If the current status of the transport vehicle is stationary, the steel grabber is controlled to grab the material in the transport vehicle according to the loading height, preset height and second grabbing rule of the material in the transport vehicle compartment. By setting preset grabbing rules and judging various conditions in the actual operation of the steel grabber, and then controlling the steel grabber to work, the operation process of the steel loader can be standardized, the operation efficiency can be improved, and the intelligent operation of the steel grabber can be realized without the assistance of ground personnel, which can further improve the safety of the steel grabber operation.

[0097] Figure 3 FIG. 1 is a block diagram of a decision-making device for unloading a steel grabber, as shown in an exemplary embodiment of the present application. Figure 3 As shown, the exemplary decision-making device for unloading steel grabber may include:

[0098] The judgment module 310 is used to detect the operating state of the end effector of the steel grabber in response to the information that the transport vehicle has arrived, and the operating state is normal or abnormal.

[0099] The first control module 320 is configured to generate a control prompt message to instruct the staff to remotely and manually control the steel grabber if the operating state is abnormal.

[0100] The state determination module 330 is used to determine the current state of the transport vehicle if the operating state is a normal state, and the current state is a stationary state or a moving state.

[0101] The second control module 340 is used to determine the moving direction of the transport vehicle if the current state of the transport vehicle is a moving state, and control the steel grabber to grab the material in the transport vehicle according to the moving direction and the first grabbing rule, and the moving direction is forward or backward.

[0102] The third control module 350 is used to control the steel grabber to grab the material in the transport vehicle according to the loading height, preset height and second grabbing rule of the material in the transport vehicle compartment if the current state of the transport vehicle is a stationary state.

[0103] It should be noted that the decision-making device for steel grab unloading provided in the above embodiment and the decision-making method for steel grab unloading provided in the above embodiment are based on the same concept. The specific manner in which each module and unit performs operations has been described in detail in the method embodiment and will not be repeated here. In actual applications, the decision-making device for steel grab unloading provided in the above embodiment can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0104] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, which, when executed by one or more processors, enables the electronic device to implement the decision-making method for unloading steel grabbers provided in the above-mentioned embodiments.

[0105] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0106] Another aspect of the present application provides a computer-readable storage medium storing a computer program. When executed by a computer processor, the computer executes the steel grabber unloading decision-making method provided in each of the above embodiments. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0107] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to implement the steel grabber unloading decision-making method provided in each of the above embodiments.

[0108] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance. Throughout the specification and claims, the terms "including" and "comprising" are open-ended terms and should be interpreted as "including but not limited to."

[0109] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, any equivalent modifications or alterations accomplished by a person of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A decision-making method for unloading steel grabber, characterized in that: include: In response to the information that the transport vehicle has arrived, the operating state of the end effector of the steel grabber is detected, and the operating state is a normal state or an abnormal state; If the operating state is abnormal, a control prompt message is generated to instruct the staff to remotely and manually control the steel grabber; If the operating state is a normal state, determining the current state of the transport vehicle, wherein the current state is a stationary state or a moving state; If the current state of the transport vehicle is a moving state, determining the moving direction of the transport vehicle, and controlling the steel grabber to grab the material in the transport vehicle according to the moving direction and the first grabbing rule, wherein the moving direction is forward or backward; If the current state of the transport vehicle is a stationary state, the steel grabber is controlled to grab the material in the transport vehicle according to the loading height of the material in the transport vehicle compartment, the preset height and the second grabbing rule; The method of controlling the steel grabber to grab the material in the transport vehicle according to the moving direction and the first grabbing rule includes: If the moving direction is forward, the steel grabber grabs vertically; If the moving direction is backward, the steel grabber grabs the steel from the rear end of the transport vehicle compartment to the front; According to the loading height, preset height and second grabbing rule of the materials in the transport vehicle, the steel grabber is controlled to grab the materials in the transport vehicle, including: Determining the loading amount of the material in the transport vehicle compartment according to the loading height and the preset height; If the load is excessive, the steel grabber will first grab vertically and then change to horizontal grabbing; If the loading amount is a constant loading amount, the steel grabber will grab the steel laterally from the rearmost end of the transport vehicle compartment where the steel is currently loaded.

2. The decision-making method for steel grab unloading according to claim 1, characterized in that: In response to the transport vehicle arrival information, before detecting the operating status of the end effector of the steel grabber, the method further includes: Determine whether the current state of the steel grabber meets the preset startup requirements; If the current state of the steel grabber meets the preset start-up requirements, receiving the transport vehicle arrival information that the transport vehicle has arrived at the preset position; If the current state of the steel grabber does not meet the preset startup requirements, a repair prompt message is generated to instruct the staff to repair the steel grabber.

3. The decision-making method for steel grab unloading according to claim 2, characterized in that: Before receiving the transport vehicle arrival information indicating that the transport vehicle has arrived at the preset location, the method further includes: When the steel grabber starts to move or the end effector of the steel grabber starts to move, the control prompt information is generated.

4. The decision-making method for steel grab unloading according to claim 1, characterized in that: Determining the loading amount of the material in the transport vehicle compartment according to the loading height and the preset height includes: If the loading height is greater than the preset height, the loading amount is overloaded; If the loading height is less than or equal to the preset height, the loading amount is constant loading.

5. The decision-making method for unloading a steel grabber according to any one of claims 1 to 4, characterized in that: After generating the control prompt information, the method further includes: If the remote takeover information corresponding to the control prompt information is received, a control success information is generated to prompt the staff to successfully perform remote manual control of the steel grabber; If the remote takeover information corresponding to the operation prompt information is not received, a repair prompt information is generated to instruct the staff to repair the steel grabber.

6. A decision-making device for unloading steel grabber, characterized in that: include: a judgment module, configured to detect the operating state of the end effector of the steel grabber in response to the information that the transport vehicle has arrived, and the operating state is either a normal state or an abnormal state; A first control module is configured to generate a control prompt message to instruct a worker to remotely and manually control the steel grabber if the operating state is abnormal; a state determination module, configured to determine the current state of the transport vehicle if the operating state is a normal state, wherein the current state is a stationary state or a moving state; a second control module, configured to determine a moving direction of the transport vehicle if the current state of the transport vehicle is a moving state, and control the steel grabber to grab the material in the transport vehicle according to the moving direction and a first grabbing rule, wherein the moving direction is forward or backward; a third control module, configured to control the steel grabber to grab the material in the transport vehicle according to the loading height of the material in the transport vehicle compartment, the preset height, and the second grabbing rule if the current state of the transport vehicle is a stationary state; The method of controlling the steel grabber to grab the material in the transport vehicle according to the moving direction and the first grabbing rule includes: If the moving direction is forward, the steel grabber grabs vertically; If the moving direction is backward, the steel grabber grabs the steel from the rear end of the transport vehicle compartment to the front; According to the loading height, preset height and second grabbing rule of the materials in the transport vehicle, the steel grabber is controlled to grab the materials in the transport vehicle, including: Determining the loading amount of the material in the transport vehicle compartment according to the loading height and the preset height; If the load is excessive, the steel grabber will first grab vertically and then change to horizontal grabbing; If the loading amount is a constant loading amount, the steel grabber will grab the steel laterally from the rearmost end of the transport vehicle compartment where the steel is currently loaded.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the decision-making method for unloading a steel grabber as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the decision method for unloading a steel grabber according to any one of claims 1 to 5.

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