A method for realizing material information interaction work between a three-dimensional warehouse and a carrying robot based on a two-dimensional array model

Abstract

The application discloses a method for realizing material information interaction work between a stereoscopic warehouse and a carrying robot based on a two-dimensional array model and belongs to the technical field of warehouse material storage and taking.A method for realizing material information interaction work between a stereoscopic warehouse and a carrying robot based on a two-dimensional array model comprises the following steps: S100, establishing a two-dimensional array information table corresponding to the stereoscopic warehouse, wherein the expression mode of the two-dimensional array is [column, layer]; S200, finding empty positions in a rack or positions of stored material models through an iteration method, so that the carrying robot stores and takes materials in the stereoscopic warehouse according to an algorithm.The application is used for realizing an intelligent warehouse management system, improving the automatic operation level, making the whole system have a better ability of collaborative work, and making the warehouse management more intelligent, flexible and reliable.

Description

Technical Field

[0001] This invention relates to a method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model, belonging to the field of warehousing material storage and retrieval technology. Background Technology

[0002] Traditional warehousing and retrieval models commonly employ manual storage and retrieval, automated storage and retrieval systems (AS / RS), and automated warehouse systems. These systems utilize various technologies, such as barcode scanning, RFID, and automated guided vehicles (AGVs), to improve storage and retrieval efficiency. However, these traditional methods may face challenges and problems when dealing with complex warehousing scenarios.

[0003] One method is manual storage and retrieval, where operators access materials based on experience and markings. The disadvantages of this method are the potential for human error, low efficiency, and unsuitability for large-scale warehouses.

[0004] Another type is the automated storage and retrieval system, which uses technologies such as barcodes and RFID for material identification and tracking. It utilizes equipment such as automated conveyor belts and elevators for storage and retrieval operations. However, this method is still limited by complex environments and changes in materials, requiring manual intervention for adjustment and management.

[0005] Another type is the automated warehousing system, which uses equipment such as automated guided vehicles (AGVs) and stacking robots to achieve automatic storage and retrieval. It typically employs advanced technologies such as visual navigation and sensors. However, in certain scenarios, problems such as complex path planning and robot collaboration may still be encountered. Summary of the Invention

[0006] In order to solve the problems existing in the prior art, this invention proposes a method for realizing material information interaction between a three-dimensional warehouse and a handling robot based on a two-dimensional array model.

[0007] A method for realizing material information interaction between an automated storage and retrieval system (AS / RS) and a material handling robot based on a two-dimensional array model includes the following steps:

[0008] S100. Establish a two-dimensional array information table corresponding to the database, wherein the two-dimensional array is expressed as [column, layer].

[0009] S200: By traversing the rack, the robot finds empty positions or positions of stored material models, thereby enabling the handling robot to store and retrieve materials in the warehouse according to the algorithm.

[0010] Furthermore, in S200, the method for locating a suitable storage location in the automated storage and retrieval system includes the following steps:

[0011] S210. Initialize the number of material rack columns and the number of material rack rows to 0;

[0012] S220. Traverse the database column by column until an empty position is found, then end the traversal.

[0013] Furthermore, S220 includes the following steps:

[0014] S221. For each column, perform a layer-by-layer traversal, with the traversal layer number ranging from low to high.

[0015] S222. If an empty position is encountered during the current column traversal, record the column number and row number of the position, and execute S223.

[0016] If no empty position is found in the current column, the traversal of that column ends and the traversal of the next column begins until an empty position is found. Then, the column number and row number of the position are recorded, and S223 is executed.

[0017] If no empty position is found after traversing all columns, the two-dimensional array information table corresponding to the traversed warehouse is recorded as full, and S223 is executed.

[0018] S223, End traversal.

[0019] Furthermore, in S200, the method for locating the position of the material machine model already stored in the automated storage system includes the following steps:

[0020] S230, Preset the value of the material to be searched this time;

[0021] S240. Initialize the number of material rack columns and the number of material rack rows to 0;

[0022] S250. Traverse the database column by column until an empty position is found, then end the traversal.

[0023] Furthermore, S250 includes the following steps:

[0024] S251. For each column, perform a layer-by-layer traversal, with the traversal layer number ranging from low to high.

[0025] S252. If the value is found in the current column, save the column number and layer number of the value to the two-dimensional array information table and execute S253.

[0026] If the value is not found in the current column, the traversal of that column ends and the traversal of the next column begins until the value is found. Then, the column number and layer number of the value are saved to the two-dimensional array information table, and S253 is executed.

[0027] If the value is not found after traversing all columns, then execute S253;

[0028] S253, End traversal.

[0029] Furthermore, in S200, when the automated storage and retrieval system (AS / RS) discharges material, the method for transmitting the algorithm result to the handling robot is as follows: First, calculate the number of the preset material stored on the rack; then, transmit the number of columns of material stored on the rack to the RW4 attribute of the input number of the handling robot.

[0030] Furthermore, the specific steps include:

[0031] S260. Determine whether the output number of the handling robot is between 10 and 50. If so, calculate the target rack number of the robot and determine whether it is a storage or unloading situation. If the output number is 0, the handling robot will not move.

[0032] S270. Determine whether the target rack number is within the available range, i.e., between 0 and 3. If so, set the available rack number flag to TRUE; otherwise, set it to FALSE.

[0033] S280. Based on the robot's storage and unloading judgment, determine the working purpose of the handling robot. If it is unloading, mark the different types of materials that the handling robot needs to unload. If it is storing, mark the different types of materials that the handling robot needs to store.

[0034] S290. Based on the conditions, determine the layer number that the handling robot needs to go to. If the handling robot needs to store materials and the rack can store materials, then the target layer number of the handling robot is the number of rows of materials stored on the rack minus 1. If the handling robot needs to unload materials and the rack has a corresponding number of materials that can be unloaded, then the target layer number of the robot is the number of rows of materials picked up from the rack minus 1.

[0035] A storage medium storing a computer program, which, when executed by a processor, implements the aforementioned method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model.

[0036] A computer device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the above-described method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model.

[0037] The beneficial effects of this invention are as follows: This invention provides a method for material information interaction between an automated warehouse and a material handling robot based on a two-dimensional array model. Through intelligent algorithms, the system can dynamically calculate the target rack, storage / unloading judgment, and target layer number based on the output number of the material handling robot, thereby achieving automated storage and unloading operations on different racks. This not only reduces manual intervention and improves the level of automation, but also reduces potential errors in operation. Simultaneously, through real-time information interaction, the various components within the system can transmit status and execution results in real time, making the entire system more collaborative and enabling more intelligent, flexible, and reliable warehouse management. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating a method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model, according to the present invention. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0040] Reference Figure 1 As shown, a method for realizing material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model includes the following steps:

[0041] S100. Establish a two-dimensional array information table corresponding to the database, wherein the two-dimensional array is expressed as [column, layer].

[0042] S200: By traversing the rack, the robot finds empty positions or positions of stored material models, thereby enabling the handling robot to store and retrieve materials in the warehouse according to the algorithm.

[0043] Specifically, there are three key areas of focus in this invention:

[0044] Key Point 1: When moving materials into the automated storage and retrieval system (AS / RS), the model information of the materials picked up by the robot needs to be transferred to the corresponding location within the AS / RS. When moving materials out of the AS / RS, the model information of the materials stored in the AS / RS needs to be transferred to the handling robot.

[0045] Key Point 2: If there is material at the top layer, then the entire column cannot store or retrieve material. Therefore, when calculating material storage, it is necessary to prioritize storing material at the lower layer.

[0046] Key Point 3: When picking up materials, the robot will grab the materials from the automated storage and retrieval system according to the material handling requirements of the external material handling equipment.

[0047] Furthermore, in S200, the method for locating a suitable storage location in the automated storage and retrieval system includes the following steps:

[0048] S210. Initialize the number of material rack columns and the number of material rack rows to 0;

[0049] S220. Traverse the database column by column until an empty position is found, then end the traversal.

[0050] Furthermore, S220 includes the following steps:

[0051] S221. For each column, perform a layer-by-layer traversal, with the traversal layer number ranging from low to high.

[0052] S222. If an empty position is encountered during the current column traversal, record the column number and row number of the position, and execute S223.

[0053] If no empty position is found in the current column, the traversal of that column ends and the traversal of the next column begins until an empty position is found. Then, the column number and row number of the position are recorded, and S223 is executed.

[0054] If no empty position is found after traversing all columns, the two-dimensional array information table corresponding to the traversed warehouse is recorded as full, and S223 is executed.

[0055] S223, End traversal.

[0056] Specifically, the following are specific implementation examples of this solution:

[0057] / * The column number represents the rack number 1-4, and the row number represents the rack layer number 1-6.* /

[0058] / * Locate an empty rack /

[0059] Number of material racks in storage: = 0;

[0060] The number of rows of materials in the material rack:=0;

[0061]

[0062]

[0063] The purpose of the above algorithm is to find the empty positions in the automated storage and record the columns and layer numbers of materials that can be stored in the "number of material storage columns on the rack" and "number of material storage rows on the rack" so that the handling robot can call the corresponding program.

[0064] Its internal nested FOR loop program layout structure can solve the second key point. When the two-dimensional array is not empty, the calculation of "number of material rack columns" and "number of material rack rows" stops.

[0065] Furthermore, in S200, the method for locating the position of the material machine model already stored in the automated storage system includes the following steps:

[0066] S230, Preset the value of the material to be searched this time;

[0067] S240. Initialize the number of material rack columns and the number of material rack rows to 0;

[0068] S250. Traverse the database column by column until an empty position is found, then end the traversal.

[0069] Furthermore, S250 includes the following steps:

[0070] S251. For each column, perform a layer-by-layer traversal, with the traversal layer number ranging from low to high.

[0071] S252. If the value is found in the current column, save the column number and layer number of the value to the two-dimensional array information table and execute S253.

[0072] If the value is not found in the current column, the traversal of that column ends and the traversal of the next column begins until the value is found. Then, the column number and layer number of the value are saved to the two-dimensional array information table, and S253 is executed.

[0073] If the value is not found after traversing all columns, then execute S253;

[0074] S253, End traversal.

[0075] Specifically, the following are specific implementation examples of this solution:

[0076]

[0077]

[0078]

[0079] The pseudocode above demonstrates how to locate material 87 and material 93 stored in the automated storage system.

[0080] Furthermore, in S200, when the automated storage and retrieval system (AS / RS) discharges material, the method for transmitting the algorithm result to the handling robot is as follows: First, calculate the preset material number stored on the rack; then, transmit the number of columns of material stored on the rack to the RW4 attribute of the input number of the handling robot. Here, RW4 is the rack storage layer number, RW5 is the number of columns for rack 87, and RW6 is the number of columns for rack 93.

[0081] Specifically, the implementation example is: calculating which shelf material can be placed when the robot puts materials onto the shelf.

[0082] The item number stored on the rack is: = Number of rack columns * 10 + 3;

[0083] Item number 93 stored on the rack: = Number of material rows stored on the rack * 10 + 4;

[0084] / / Input number for handling robot.RW4: = Number of material rows in the rack;

[0085] The results calculated by the algorithm are sent to the handling robot. The column number of the automated warehouse needs to be calculated to generate a program number that the robot can accept, while the layer number is sent directly to the robot.

[0086] Furthermore, the specific steps include:

[0087] S260. Determine whether the output number of the handling robot is between 10 and 50. If so, calculate the target rack number of the robot and determine whether it is a storage or unloading situation. If the output number is 0, the handling robot will not move.

[0088] S270. Determine whether the target rack number is within the available range, i.e., between 0 and 3. If so, set the available rack number flag to TRUE; otherwise, set it to FALSE.

[0089] S280. Based on the robot's storage and unloading judgment, determine the working purpose of the handling robot. If it is unloading, mark the different types of materials that the handling robot needs to unload. If it is storing, mark the different types of materials that the handling robot needs to store.

[0090] S290. Based on the conditions, determine the layer number that the handling robot needs to go to. If the handling robot needs to store materials and the rack can store materials, then the target layer number of the handling robot is the number of rows of materials stored on the rack minus 1. If the handling robot needs to unload materials and the rack has a corresponding number of materials that can be unloaded, then the target layer number of the robot is the number of rows of materials picked up from the rack minus 1.

[0091] Specifically, the concrete implementation of the interaction between the vertical warehouse and the handling robot based on the results of the two-dimensional array algorithm is as follows:

[0092] / * Calculate the shelf number and whether the robot is storing or unloading materials according to the program execution. * /

[0093] IF Transport Robot Output Number.RW0>10 AND Transport Robot Output Number.RW0<50THEN

[0094] Robot target rack: = div(transport robot output number.RW0, 10) - 1;

[0095] Robot Storage / Unloading Decision: = MOD_E(SM400, Robot Storage / Unloading Decision_Return, Robot Output Number.RW0,10); END_IF;

[0096] IF transport robot output number.RW0 = 0THEN

[0097] Robot storage / unloading judgment: = 0;

[0098] END_IF;

[0099] / * Check if the rack number is available * /

[0100] IF Robot target rack >= 0 AND Robot target rack <= 3 THEN rack number available := TRUE;

[0101] ELSE

[0102] Shelf number available:=FALSE;

[0103] END_IF;

[0104] / * Determine the robot's purpose * /

[0105] IF Robot storage / unloading judgment = 1THEN

[0106] Robot rack unloading 87 materials: = TRUE;

[0107] ELSE

[0108] Robot material rack unloads 87 materials:=FALSE;

[0109] END_IF;

[0110] IF Robot storage and unloading judgment = 2THEN

[0111] Robot rack unloading 93 material: = TRUE;

[0112] ELSE

[0113] Robot material rack unloads 93 materials:=FALSE;

[0114] END_IF;

[0115] IF Robot storage and unloading judgment = 3THEN

[0116] Robot rack has 87 items: = TRUE;

[0117] ELSE

[0118] Robot rack holds 87 items: = FALSE;

[0119] END_IF;

[0120] IF Robot storage and unloading judgment = 4THEN

[0121] Robot rack has 93 items: = TRUE;

[0122] ELSE

[0123] Robot rack holds 93 items: = FALSE;

[0124] END_IF;

[0125] / * Determine the floor number the robot needs to go to * /

[0126] IF(robot rack has 87 units of material = TRUE OR robot rack has 93 units of material = TRUE) AND rack can store material = TRUE

[0127] robot target layer number: = number of material rack rows - 1;

[0128] END_IF;

[0129] IF robot rack unloads 87 items = TRUE AND rack has 87 items that can be unloaded = TRUE THEN

[0130] robot target layer number: = number of material rows taken from shelf 87 - 1;

[0131] END_IF;

[0132] IF robot rack unloads 93 items = TRUE AND rack has 93 items that can be unloaded = TRUE THEN

[0133] robot target layer number: = number of material rows of 93 in the material rack - 1;

[0134] END_IF;

[0135] As shown in the pseudocode above, based on the robot's feedback, the program calculates the column number of the automated storage and retrieval system (AS / RS) the robot will visit, "Robot Target Shelf," and determines whether the robot is storing or discharging materials ("Robot Storage / Unloading Judgment"). Further calculations determine the specific type of material being stored or retrieved, preparing for subsequent information exchange.

[0136] A storage medium storing a computer program, which, when executed by a processor, implements the aforementioned method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model.

[0137] A computer device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement the above-described method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model.

[0138] Specifically, the storage medium of this invention stores a computer program that successfully implements an intelligent material information interaction operation method between an automated warehouse and a handling robot based on a two-dimensional array model. Through intelligent algorithms, the system can dynamically calculate target racks, storage / unloading judgments, and target layer numbers, thereby achieving automated storage and unloading operations on different racks, improving the efficiency and accuracy of warehouse operations. Utilizing the two-dimensional array model, real-time material information interaction with the handling robot is achieved, enabling the system to instantly acquire and process the robot's status and task information, enhancing the real-time performance and responsiveness of warehouse management. Through conditional judgments and logical control, the system successfully prevents the robot from executing incorrect tasks or performing operations on unavailable racks, reducing the risk of potential operational errors. Most importantly, the system possesses a certain degree of flexibility and scalability, adapting to different work scenarios and needs, providing greater adaptability and customizability for warehouse management. The corresponding computer equipment includes a memory, a processor, and a computer program stored in the memory. By executing this program, an intelligent warehouse management system is realized, bringing significant technological advancements to modern logistics and production.

Claims

1. A method for realizing material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model, characterized in that, The method for realizing material information interaction between the automated warehouse and the handling robot based on a two-dimensional array model includes the following steps: S100. Establish a two-dimensional array information table corresponding to the database, wherein the two-dimensional array is expressed as [column, layer]. S200: By traversing the rack, the system finds empty positions or locations where materials are already stored, enabling the handling robot to store and retrieve materials from the automated storage and retrieval system according to the algorithm. In S200, when materials are being discharged from the automated storage and retrieval system (AS / RS), the method for transmitting the algorithm results to the handling robot is as follows: First, the number of the preset material stored on the rack is calculated; then, the number of columns of the material stored on the rack is transmitted to the RW4 attribute of the input number of the handling robot, which is the rack storage layer number. This specifically includes the following steps: S260. Determine whether the output number of the handling robot is between 10 and 50. If so, calculate the target rack number of the robot and determine whether it is a storage or unloading situation. If the output number is 0, the handling robot will not move. S270. Determine whether the target rack number is within the available range, i.e., between 0 and 3. If so, set the available rack number flag to TRUE; otherwise, set it to FALSE. S280. Based on the robot's storage and unloading judgment, determine the working purpose of the handling robot. If it is unloading, mark the different types of materials that the handling robot needs to unload. If it is storing, mark the different types of materials that the handling robot needs to store. S290. Based on the conditions, determine the layer number that the handling robot needs to go to. If the handling robot needs to store materials and the rack can store materials, then the target layer number of the handling robot is the number of rows of materials stored on the rack minus 1. If the handling robot needs to unload materials and the rack has a corresponding number of materials that can be unloaded, then the target layer number of the robot is the number of rows of materials picked up from the rack minus 1.

2. The method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model according to claim 1, characterized in that, In S200, the method for locating a storage location in the automated storage and retrieval system includes the following steps: S210. Initialize the number of material rack columns and the number of material rack rows to 0; S220. Traverse the database column by column until an empty position is found, then end the traversal.

3. The method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model according to claim 2, characterized in that, S220 includes the following steps: S221. For each column, perform a layer-by-layer traversal, with the traversal layer number ranging from low to high. S222. If an empty position is encountered during the current column traversal, record the column number and row number of the position, and execute S223. If no empty position is found in the current column, the traversal of that column ends and the traversal of the next column begins until an empty position is found. Then, the column number and row number of the position are recorded, and S223 is executed. If no empty position is found after traversing all columns, the two-dimensional array information table corresponding to the traversed warehouse is recorded as full, and S223 is executed. S223, End traversal.

4. The method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model according to claim 1, characterized in that, In S200, the method for locating the machine model of a material already stored in the automated storage system includes the following steps: S230, Preset the value of the material to be searched this time; S240. Initialize the number of material rack columns and the number of material rack rows to 0; S250. Traverse the database column by column until an empty position is found, then end the traversal.

5. The method for material information interaction between an automated warehouse and a handling robot based on a two-dimensional array model according to claim 4, characterized in that, In S250, the following steps are included: S251. For each column, perform a layer-by-layer traversal, with the traversal layer number ranging from low to high. S252. If the value is found in the current column, save the column number and layer number of the value to the two-dimensional array information table and execute S253. If the value is not found in the current column, the traversal of that column ends and the traversal of the next column begins until the value is found. Then, the column number and layer number of the value are saved to the two-dimensional array information table, and S253 is executed. If the value is not found after traversing all columns, then execute S253; S253, End traversal.

6. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for material information interaction between a three-dimensional warehouse and a handling robot based on a two-dimensional array model, as described in any one of claims 1-5.

7. A computer device, characterized in that, include: The method for material information interaction between a three-dimensional warehouse and a handling robot based on a two-dimensional array model, as described in any one of claims 1-5, includes a memory, a processor, and a computer program stored in the memory and executable on the processor.

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