A material grabbing machine control method and device, electronic equipment and storage medium

Abstract

The application relates to the technical field of grab machine control, and discloses a grab machine control method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring current track information and current area information of each working area, acquiring working task information and current grab machine information, wherein the grab machine information comprises a grab machine state and a grab machine type; determining a task type of a task to be executed based on the working task information; determining a target grab machine from the grab machines whose current grab machine state is a preset grab machine state and whose current grab machine type corresponds to the task type; wherein the grab machine is used for grabbing and transporting materials; assigning a task to the target grab machine according to the current track information, the current area information and the working task information, obtaining a target task of the target grab machine, and controlling the target grab machine to execute the target task. The method provides a more practical, more accurate and more efficient grab machine control method.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grab machine control, and in particular to a grab machine control method and device, electronic equipment and a storage medium. BACKGROUND

[0002] With the rapid development of industrial automation and intelligentization, modern manufacturing has an increasingly urgent demand for improving work efficiency, optimizing resource allocation and improving labor conditions, and it is urgent to use intelligent grabbing operation equipment to optimize traditional warehouse operation. However, in the actual use process of intelligent grabbing operation equipment in the factory, the contradiction of warehouse operation is increasingly prominent, mainly including the following problems:

[0003] First, safety is difficult to guarantee. Since the operation path of intelligent grabbing equipment is not fixed, and when the ground moving intelligent grabbing equipment enters and exits the warehouse operation, it is difficult to avoid the entry and exit of operating personnel into the operation area, and there is a great safety hazard to personnel.

[0004] Second, management is difficult. In the actual operation process, not only will the presence of ground operating personnel interrupt the operation of the grabbing equipment, but also the ground multiple operating grabbing equipment may interfere with each other, making the operation management and equipment scheduling requirements high and difficult to manage.

[0005] Third, the development cycle is long. Due to the diversity and complexity of the factory operation environment, intelligent grabbing equipment needs to be developed considering various operation situations and tested and adjusted for a long time to ensure its stable operation and safety under various operation situations, and the development cycle is long.

[0006] In view of the above problems, the present application provides a new grab machine control method, which uses a track to standardize the operation path of the grabbing equipment, simplifies the operation environment of the grabbing equipment, reduces unexpected operation situations, clearly defines the operation area of the grab machine, reduces safety hazards, is more convenient for operation management, and also shortens the development cycle.

[0007] It should be noted that the above content only provides background technical information related to the present application, and does not necessarily constitute prior art. SUMMARY

[0008] In view of the above-mentioned shortcomings of the prior art, the present application provides a grab machine control method, device, electronic equipment and storage medium to standardize the operation path of the grabbing equipment, simplify the operation environment of the grabbing equipment, reduce unexpected operation situations, clearly define the operation area of the grab machine, reduce safety hazards, and make operation management more convenient.

[0009] Other characteristics and advantages of the present application will become apparent from the following detailed description, or will be learned by practice of the present application.

[0010] According to an aspect of an embodiment of the present application, a material grabbing machine control method is provided, including: obtaining current track information and current area information of each work area, and obtaining work task information and current material grabbing machine information, wherein the material grabbing machine information includes a material grabbing machine state and a material grabbing machine type; determining a task type of a task to be executed based on the work task information, and determining a target material grabbing machine based on a preset material grabbing machine state of a current material grabbing machine state and a material grabbing machine corresponding to the task type of the current material grabbing machine type, wherein the material grabbing machine is used for grabbing and transporting materials; assigning a task for the target material grabbing machine according to the current track information, the current area information, and the work task information, to obtain a target task of the target material grabbing machine; and controlling the target material grabbing machine to execute the target task.

[0011] In an embodiment of the present application, based on the foregoing scheme, determining a task type of a task to be executed based on the work task information includes: performing keyword extraction on the work task information to obtain a target keyword; and determining the task type of the task to be executed according to the target keyword.

[0012] In an embodiment of the present application, based on the foregoing scheme, determining a target material grabbing machine based on a preset material grabbing machine state of a current material grabbing machine state and a material grabbing machine corresponding to the task type of a current material grabbing machine type includes: matching the current material grabbing machine state with the preset material grabbing machine state to obtain a first matching result; matching the current material grabbing machine type with a material grabbing machine type corresponding to the task type to obtain a second matching result; determining an initial material grabbing machine based on the first matching result and the second matching result; determining an initial distance according to a task starting point and a current material grabbing machine position, wherein the work task information includes the task starting point, and the material grabbing machine information includes a material grabbing machine position; sorting the initial material grabbing machine according to the initial distance, and determining the target material grabbing machine according to a sorting result.

[0013] In an embodiment of the present application, based on the foregoing scheme, assigning a task for the target material grabbing machine according to the current track information, the current area information, and the work task information to obtain a target task of the target material grabbing machine includes: determining a target starting point, a target ending point, and a target task amount of the target material grabbing machine according to the current area information and the work task information; determining a target path of the target material grabbing machine according to the current track information, the target starting point, and the target ending point; and determining the target task based on the target path and the target task amount.

[0014] In an embodiment of the present application, based on the foregoing scheme, the control of the target grabber to perform the target task comprises: acquiring a current time position and a next time position of the target grabber; determining a steering angle of the target grabber based on the current time position and the next time position; and controlling the target grabber to steer based on the steering angle through a track direction conversion device.

[0015] In an embodiment of the present application, based on the foregoing scheme, before the acquisition of the current track information and the current area information of each work area, the method further comprises: acquiring work scene information; performing area division on a work scene according to the work scene information to obtain a plurality of work areas, wherein the work areas include a warehouse-in area, a warehouse-out area, and a standby area; performing path planning based on the work areas and the work scene information to obtain a track planning result; and installing a grabber track according to the track planning result.

[0016] In an embodiment of the present application, based on the foregoing scheme, after the control of the target grabber to perform the target task, the method further comprises: detecting whether the target grabber has a task to be executed; if it is detected that the target grabber does not have the task to be executed, controlling the target grabber to travel to the standby area; and if it is detected that the target grabber has the task to be executed, controlling the target grabber to travel to a starting point corresponding to the task to be executed.

[0017] According to an aspect of an embodiment of the present application, there is provided a grabber control device, comprising: an acquisition module configured to acquire current track information and current area information of each work area, and to acquire work task information and current grabber information, wherein the grabber information comprises a grabber state and a grabber type; a determination module configured to determine a task type of a task to be executed based on the work task information, and to determine a target grabber based on a preset grabber state of a current grabber, a current grabber type, and a grabber corresponding to the task type, wherein the grabber is used for grabbing and transporting materials; an allocation module configured to allocate a task for the target grabber based on the current track information, the current area information, and the work task information to obtain a target task of the target grabber; and a control module configured to control the target grabber to perform the target task.

[0018] According to an aspect of an embodiment of the present application, there is provided an electronic device, comprising: one or more processors; a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the electronic device to implement a grabber control method as described in any of the above embodiments.

[0019] The application further provides a computer readable storage medium, which stores a computer program, and the computer program, when executed by a processor of a computer, causes the computer to execute the material grabbing machine control method according to any one of the above embodiments.

[0020] The application has the following beneficial effects: the current track information and the current area information of each working area are acquired, and the working task information and the current material grabbing machine information are acquired, wherein the material grabbing machine information includes the material grabbing machine state and the material grabbing machine type, the working track is divided into different areas, and the material grabbing machine only performs the specified work in the area in different working areas, so as to avoid mutual interference between the material grabbing machines during work, facilitate work management, and balance safety and work efficiency; the task type of the task to be performed is determined based on the working task information, the material grabbing machine whose current state is the preset material grabbing machine state and whose type corresponds to the task type is determined as a target material grabbing machine, wherein the material grabbing machine is used for grabbing and transporting materials; the target task of the target material grabbing machine is obtained by allocating the task to the target material grabbing machine according to the current track information, the current area information and the working task information; the target material grabbing machine is controlled to perform the target task; the working path of the material grabbing equipment is regulated according to the track, the working environment of the material grabbing equipment is simplified, the work emergency is reduced, the working area of the material grabbing machine is clear, the safety hidden danger is reduced, the work management is more convenient, and the work safety is improved, the management difficulty is reduced, and the development cycle is shortened.

[0021] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the application. BRIEF DESCRIPTION OF DRAWINGS

[0022] The drawings incorporated into the specification and constituting a part of the specification show embodiments consistent with the application and, together with the specification, serve to explain the principles of the application. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained from these drawings without creative labor for those skilled in the art. In the drawings:

[0023] Figure 1 is a schematic diagram of an exemplary system architecture shown by an exemplary embodiment of the application;

[0024] Figure 2 is a flowchart of a material grabbing machine control method shown by an exemplary embodiment of the application;

[0025] Figure 3 is a schematic diagram of the area division result of a material grabbing machine control method shown by an exemplary embodiment of the application;

[0026] Figure 4 is a flowchart of a material grabbing machine control method shown by another exemplary embodiment of the application;

[0027] Figure 5 is a block diagram of a material grabbing machine control device according to an example embodiment of the present application;

[0028] Figure 6 shows a structural schematic diagram of a computer system of an electronic device suitable for implementing embodiments of the present application. DETAILED DESCRIPTION

[0029] The implementation of the present application will be described hereinafter with reference to the drawings and preferred embodiments, and those skilled in the art can easily understand other advantages and effects of the present application from the disclosure herein. The present application can also be implemented or applied by means of other different specific embodiments, and various modifications or changes can be made to the details herein based on different views 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, but not for limiting the protection scope of the present application.

[0030] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner, and only the components related to the present application are shown in the diagrams, but not drawn according to the number, shape and size of the components in actual implementation, and the type, number and proportion of each component in actual implementation can be arbitrarily changed, and the layout type of the components can also be more complex.

[0031] 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, and in other embodiments, the known structures and devices are shown in the form of block diagrams rather than in the form of details, to avoid making the embodiments of the present application difficult to understand.

[0032] First of all, it should be noted that the material grabbing machine is a mechanical device for material handling, which has the advantages of fast and efficient, accurate and reliable, safe and reliable, etc., and is widely used in various factories, agricultural production and processing fields, such as textile mills, steel mills, food processing plants, pharmaceutical manufacturing plants, cosmetic production plants, etc. The material grabbing machine is a device that can automatically handle materials, which senses the presence and position of materials through sensors installed on the device, and then transfers the materials from one position to another position through an automated arm. According to different application scenarios and material characteristics, there are various types and configurations of material grabbing machines, such as oil-electric dual-power double-power material grabbing machines, fixed material grabbing machines, mobile material grabbing machines, etc.

[0033] Figure 1 is a schematic diagram of an example system architecture according to an example embodiment of the present application.

[0034] Reference Figure 1As shown, the system architecture can include a data acquisition device 101 and a computer device 102. Among them, the computer device 102 can be at least one of a desktop graphic processing unit (GPU) computer, a GPU computing cluster, a neural network computer, etc. The data acquisition device 101 is used to acquire the current state data of the target vehicle, and in this embodiment, the data acquisition device 101 provides the above-mentioned data to the computer device 102 for processing after acquiring the data. The computer device 102 can be used by a person skilled in the art to perform semantic analysis on the voice data input by the user, determine the target field corresponding to the voice data according to the semantic analysis result, match the target field with the preset field once to obtain a first matching result, determine a candidate voice from the feedback voice set based on the first matching result, the feedback voice set includes feedback voices corresponding to multiple preset fields respectively, perform fault judgment on the target vehicle according to the current state data, determine the current fault data, perform secondary matching between the current fault data and the vehicle fault data corresponding to the candidate voice to obtain a second matching result, determine the target voice from the candidate voice based on the second matching result, and respond to the voice data based on the target voice to complete the control of the grabber. It should be noted that the data acquisition device 101 and the computer device 102 provided in this embodiment are only an example, and should not limit the function and use range of the embodiments of the present application.

[0035] It should be noted that the grabber control method provided in the embodiments of the present application is generally executed by the computer device 102, and correspondingly, the grabber control device is generally arranged in the computer device 102.

[0036] Figure 2 The flowchart of the grabber control method shown in this example embodiment of the present application, which can be executed by a computing device, can be a computer device 102 as shown in Figure 1 Referring to Figure 2 The grabber control method at least includes steps S210 to S240, which are described in detail as follows:

[0037] In step S210, the current track information and the current area information of each working area are acquired, and the working task information and the current grabber information are acquired.

[0038] In an embodiment of the present application, the process before obtaining the current track information and the current area information of each work area includes the following steps: obtaining work scene information; dividing the work scene into multiple work areas according to the work scene information, wherein the work areas include a warehouse-in area, a warehouse-out area and a standby area; performing path planning based on the work areas and the work scene information to obtain a track planning result; and installing a track of the grabber according to the track planning result. The grabber is used to grab and transport materials.

[0039] In the embodiment, the process of performing path planning based on the work areas and the work scene information to obtain a track planning result includes the following steps: determining the positions of the work areas according to the work scene information, performing path planning according to the positions of the work areas and the size of the grabber to obtain a planned track path, and connecting each work area through the planned track path; and determining the planned track path with the shortest path as the track planning result.

[0040] In an embodiment of the present application, the work task information and the current grabber information are obtained, wherein the grabber information includes a grabber state, a grabber position and a grabber type. The grabber state includes a standby state, a working state and a fault state, and the grabber type corresponds to the task type to grab and transport different materials.

[0041] In step S220, the task type of the task to be executed is determined based on the work task information, and the grabber whose current state is a preset grabber state and whose type corresponds to the task type is determined as the target grabber.

[0042] In an embodiment of the present application, the process of determining the task type of the task to be executed based on the work task information includes the following steps: extracting target keywords from the work task information; and determining the task type of the task to be executed according to the target keywords.

[0043] In the embodiment, the work task information includes a task starting point, a task ending point, a task total amount and task information. The target keywords are extracted from the work task information, and the task type, the task total amount, the task starting point and the task ending point of the task to be executed are determined according to the target keywords. For example, the work task information is “transport 50 scrap steels from a temporary storage area to a finished product warehouse”, and after keyword extraction, it can be determined that the task total amount of the task to be executed is “50”, the task type is “transport scrap steels”, the task starting point is “the temporary storage area”, and the task ending point is “the finished product warehouse”. It should be noted that the work task information in the embodiment is only for illustration, and the work task information can be defined according to actual needs, and is not necessarily in the form of the above example.

[0044] In an embodiment of the present application, the process of determining the target grabber from the current grabber state, the preset grabber state, the current grabber type, and the task type corresponding grabber type includes the following steps: matching the current grabber state with the preset grabber state to obtain a first matching result; matching the current grabber type with the task type corresponding grabber type to obtain a second matching result; determining an initial grabber based on the first matching result and the second matching result; determining an initial distance according to the task starting point and the current grabber position, wherein the work task information includes the task starting point, and the grabber information includes the grabber position; sorting the initial grabber according to the initial distance, and determining the target grabber according to the sorting result. Preferably, the preset grabber state can be a standby state, i.e., an idle state. By determining the target grabber from the grabber that corresponds to the task type, has the current grabber state, and has a short initial distance between the current grabber position and the task starting point, the requirements of the grabber are met, and the speed and efficiency of the grabber in grabbing and transporting materials are improved.

[0045] In an embodiment of the present application, after determining the initial distance according to the task starting point and the current grabber position, the process further includes the following steps: determining the total task amount based on the current area information and the work task information; determining the required number of target grabbers according to the total task amount and the standard capacity corresponding to the current grabber type; if the required number is greater than the initial number of the initial grabber, determining the initial number as the target number of the target grabber; if the required number is less than or equal to the initial number of the initial grabber, determining the required number as the target number of the target grabber; sorting the initial grabbers in ascending order according to the initial distance, and determining the target grabbers from the grabbers corresponding to the target number before sorting.

[0046] In step S230, the target grabber is assigned a task according to the current track information, the current area information, and the work task information, and the target task of the target grabber is obtained.

[0047] In an embodiment of the present application, the target starting point, the target endpoint, and the target task amount of the target grabber are determined according to the current area information and the work task information; the target path of the target grabber is determined according to the current track information, the target starting point, and the target endpoint; and the target task is determined based on the target path and the target task amount.

[0048] In the embodiment, the process of determining the target starting point, the target ending point and the target task quantity of the target grabber according to the current area information and the work task information comprises the following steps: determining the total task quantity, the task starting point and the task ending point according to the work task information, determining the total material quantity, the material location and the material placement location corresponding to the task to be executed according to the current area information, and combining the total material quantity, the material location and the material placement location with the total task quantity, the task starting point and the task ending point respectively to obtain the target task quantity, the target starting point and the target ending point.

[0049] In the embodiment, the process of determining the target path of the target grabber according to the current track information, the target starting point and the target ending point comprises the following steps: obtaining the current track information of the track corresponding to the target starting point and the target ending point, and determining the track state of the corresponding track according to the current track information, if the track state is an idle state, that is, there is no grabber on the target starting point to the target ending point, the corresponding track corresponding to the idle state is determined as the target track, and the target path of the target grabber is determined according to the target track.

[0050] In the embodiment, if the target track quantity of the target track is greater than the target quantity of the target grabber, the relative distance of each target track to the target starting point or the target ending point is calculated respectively, the relative distance is sorted according to the relative distance, and the target track with smaller relative distance is determined as the final target track.

[0051] In the embodiment, if the target quantity of the target grabber is greater than the target track quantity, the first time corresponding to the first grabber grabbing the target material from the target starting point and transporting the target material to the preset intermediate position is calculated, and the second time corresponding to the second grabber grabbing the target material from the preset intermediate position and transporting the target material to the target ending point is calculated, wherein the first time is equal to the second time, and the target grabber comprises the first grabber and the second grabber. The first grabber places the target material at the preset intermediate position, so that the second grabber corresponding to the first grabber grabs the target material from the preset intermediate position. Preferably, the first grabber directly places the target material on the second grabber corresponding to the first grabber. It can be understood that the first grabber and the second grabber corresponding to the first grabber are on the same track.

[0052] In the embodiment, the process of determining the target task based on the target path and the target task quantity comprises the following steps: determining the target starting point, the target ending point and the target track of the target task based on the target path, determining the target task quantity of each target grabber based on the target task quantity, the standard capacity corresponding to the current grabber type and the target quantity of the target grabber respectively, and combining the target path and the target task quantity to obtain the target task of the target grabber.

[0053] In step S240, the target grabber is controlled to execute the target task.

[0054] In an embodiment of the present application, the current moment position and the next moment position of the target grabber are acquired; the turning angle of the target grabber is determined based on the current moment position and the next moment position; and the target grabber is controlled to turn based on the turning angle by the track direction conversion device.

[0055] In an embodiment of the present application, the process after the target grabber is controlled to perform the target task includes the following steps: detecting whether the target grabber has a task to be performed; if it is detected that the target grabber has no task to be performed, controlling the target grabber to travel to the standby area; and if it is detected that the target grabber has a task to be performed, controlling the target grabber to travel to the starting point corresponding to the task to be performed.

[0056] In an embodiment of the present application, the task priority of the target task is determined based on the work task information, the execution order of the target task is determined according to the task priority, and the target task is executed according to the execution order.

[0057] In the embodiment, if the task priorities of the target tasks are the same, the receiving time of the target task received by the target grabber is counted, and the execution order of the target task is determined according to the order of the receiving time.

[0058] In an embodiment of the present application, the grabber track is distributed in the factory finished product warehouse area and the production area, and the track can be divided into the warehouse entry area, the warehouse exit area, the standby and maintenance area, i.e., the standby area, to meet the requirements of the grabber in performing the finished product storage and finished product loading and unloading operations. In addition, the grabber track direction conversion device is arranged at the boundary of the track partition to realize the travel of the grabber between the tracks in different areas. Figure 3 , Figure 3 is a schematic diagram of the area division result of the grabber control method according to an exemplary embodiment of the present application.

[0059] Figure 4 is a flowchart of the grabber control method according to another exemplary embodiment of the present application. As shown in the figure, the track grabber warehouse entry and exit operation process includes at least steps S1 to S5, which are described in detail as follows. Figure 4

[0060] In step S1, the grabber system receives the work task information, and determines the task type and requirements of the task to be performed according to the work task information.

[0061] In step S2, the target grabber performing the task is selected according to the current state of each grabber on the track, and the target task of the track operation is planned for the target grabber.

[0062] ​In step S3, the receiving target task is processed by the grabber, the target task requirements are obtained, the track direction conversion device is operated according to the requirements, and the system is driven to the track warehouse / in warehouse operation area.

[0063] In step S4, according to the target task requirements, the grabber drives to the target finished material nearby, stably grabs the target finished material, and then drives to the target storage location of the finished product warehouse to complete the warehouse operation or drives to the target loading location to complete the warehouse operation.

[0064] In step S5, after the grabber completes the target task, according to the system planning, the track direction conversion device is operated according to the requirements, and the track standby area or the next operation task area is driven.

[0065] By increasing the running track of the grabber, the running path of the grabber is fixed on the track, the machine body can only run back and forth on the track, the operation mode of the grabber is optimized, the operation path of the grabber is standardized, the warehouse operation environment is simplified, and the operation safety is improved, the management difficulty is reduced, and the development cycle is shortened.

[0066] The application obtains current track information and current area information of each working area, and obtains working task information and current grabber information, wherein the grabber information includes grabber state and grabber type, determines the task type of the task to be executed based on the working task information, determines the target grabber as the grabber whose current grabber state is a preset grabber state and whose current grabber type corresponds to the task type, wherein the grabber is used for grabbing and transporting materials, allocates tasks for the target grabber according to the current track information, the current area information and the working task information, obtains the target task of the target grabber, and controls the target grabber to execute the target task. The following effects can be achieved:

[0067] 1) High safety. After the track grabber is used for warehouse operation in the factory, the machine body operation path of the grabber is fixed, and only runs according to the laid track. The operation personnel entering the warehouse operation area do not need to walk near the track, which can avoid personnel safety accidents caused by intelligent grabber operation, greatly improve the safety, and balance the safety and operation efficiency, so that the operation management efficiency is greatly improved.

[0068] 2) High management efficiency. The track grabber is used to execute the warehouse operation task in different areas, and the operation of multiple grabbers does not interfere with each other, so that the operation efficiency is high and the scheduling difficulty is reduced.

[0069] 3) Development efficiency is high. The method of track traveling operation of the grab machine is adopted to avoid the interruption of the ground operation personnel to the grab machine operation, the method of track grab machine partition operation is adopted to avoid the mutual interference between the operations of multiple machines, the operation environment is simplified, the development difficulty of the equipment is greatly reduced, the development cycle is shortened, and the development efficiency is improved.

[0070] Figure 5 is a block diagram of a grab machine control device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1 the implementation environment shown in the embodiment, and is specifically configured in the computer equipment 102. The device can also be applied to other exemplary implementation environments and specifically configured in other equipment, and the embodiment does not limit the implementation environment to which the device is applied.

[0071] As shown in Figure 5 the exemplary grab machine control device includes an acquisition module 510, a determination module 520, an allocation module 530, and a control module 540.

[0072] The acquisition module 510 is configured to acquire current track information and current area information of each working area, and acquire working task information and current grab machine information, wherein the grab machine information includes a grab machine state and a grab machine type; the determination module 520 is configured to determine a task type of a task to be executed based on the working task information, and determine a target grab machine based on a preset grab machine state of the current grab machine, a current grab machine type, and a grab machine corresponding to the task type, wherein the grab machine is used for grabbing and transporting materials; the allocation module 530 is configured to allocate a task for the target grab machine according to the current track information, the current area information, and the working task information to obtain a target task of the target grab machine; and the control module 540 is configured to control the target grab machine to execute the target task.

[0073] It should be noted that the grab machine control device provided in the above embodiment and the grab machine control method provided in the above embodiment belong to the same concept, and the specific manner in which each module and unit performs operations has been described in detail in the method embodiment, which will not be described here. The grab machine control device provided in the above embodiment can be completed by different functional modules according to the above functions in actual application, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, and this is not limited herein.

[0074] The embodiment of the present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the electronic device implements the grab machine control method provided in each of the above embodiments.

[0075] Figure 6 A structural diagram of a computer system of an electronic device suitable for implementing the embodiments of the present application is shown. It should be noted that, Figure 6 The computer system 600 of the electronic device shown is only an example and should not bring any limitation to the functions and usage range of the embodiments of the present application.

[0076] As shown in the figure, Figure 6 The computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 602 or programs loaded from a storage portion 608 into a random access memory (RAM) 603, such as performing the methods provided by the various embodiments described above. Various programs and data required for system operation are also stored in the RAM 603. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0077] The following components are connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like; a storage portion 608 including a hard disk, and the like; and a communication portion 609 including a network interface card such as a LAN (Local Area Network) card, a modem, and the like. The communication portion 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as necessary. A removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, and the like is mounted on the drive 610 as necessary, so that a computer program read therefrom is installed in the storage portion 608 as necessary.

[0078] In particular, according to the embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, the embodiments of the present application include a computer program product including a computer program carried on a computer-readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication portion 609, and / or installed from the removable media 611. When the computer program is executed by the central processing unit (CPU) 601, various functions defined in the system of the present application are performed.

[0079] Note that the computer readable medium shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, the computer readable signal medium can include a data signal propagated in a baseband or propagated as a carrier wave in a propagated data signal, in which the computer readable computer program is embodied. Such a propagated data signal can take a variety of forms, including but not limited to, an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium that can be used to carry or store the program for use by or in connection with an instruction execution system, apparatus or device. The computer program contained in the computer readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination of the above.

[0080] The flowcharts and block diagrams in the drawings illustrate the possible architectures, functionality, and operations of systems, methods, and computer program products according to various embodiments of the present application. Each block in the flowcharts or block diagrams can represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks noted in succession can in fact be executed substantially concurrently or in the reverse order, depending on the functionality involved. It should also be noted that each block in the flowcharts or block diagrams and combinations of blocks in the flowcharts or block diagrams can be implemented by special-purpose hardware-based systems that perform the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0081] The units described in the embodiments of the present application can be implemented by software, or can be implemented by hardware, and the described units can also be arranged in a processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0082] Another aspect of the present application also provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor of a computer, so that the computer executes the material grabbing machine control method provided in the above embodiments. The computer readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately and not be assembled into the electronic device.

[0083] It should be noted that although several modules or units of the device for action execution are mentioned in the above detailed description, such division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into a plurality of modules or units.

[0084] Another aspect of the present application also 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 the processor executes the computer instructions, so that the computer device executes the material grabbing machine control method provided in the above embodiments.

[0085] From the above description of the embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.) or a network, and includes a plurality of instructions to make a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) execute the methods according to the embodiments of the present application.

[0086] Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the application following the general principles thereof and including such departures from the present disclosure as come within known use or custom in the art.

[0087] The above embodiments are only illustrative of the principles of the present application and its effects, and are not intended to limit the present application. Any modification or change made by any person skilled in the art without departing from the spirit and scope of the present application shall be covered by the claims of the present application.

Claims

1. A control method for a material handling machine, characterized in that, include: Obtain current track information and current area information for each work area, as well as work task information and current material handling machine information, wherein the material handling machine information includes material handling machine status and material handling machine type; Based on the work task information, the task type of the task to be executed is determined, and the grabber whose current grabber status is a preset grabber status and whose current grabber type corresponds to the task type is determined as the target grabber, wherein the grabber is used to grab materials and transport materials; Based on the current track information, the current area information, and the work task information, a task is assigned to the target material grabber to obtain the target task of the target material grabber; Control the target material handling machine to execute the target task; Before obtaining the current orbit information and the current area information of each working area, the method further includes: Obtain work scenario information; The work scenario is divided into multiple work areas based on the work scenario information. The work areas include an inbound area, an outbound area, and a standby area. Based on the work area and work scenario information, path planning is performed to obtain the track planning result; Install the material handling machine track according to the track planning results; Based on the current track information, the current area information, and the work task information, a task is assigned to the target material handling machine to obtain the target task of the target material handling machine, including: The target starting point, target ending point, and target task quantity of the target material handling machine are determined based on the current area information and the work task information. The target path of the target material handling machine is determined based on the current track information, the target starting point, and the target ending point. The target task is determined based on the target path and the target task volume; Determining the target path of the target grabber based on the current track information, the target starting point, and the target ending point includes: obtaining the current track information of the tracks corresponding to the target starting point and the target ending point, and determining the track status of the corresponding tracks based on the current track information; if the track status is idle, then determining the track corresponding to the idle status as the target track, and determining the target path of the target grabber based on the target track. If the number of target tracks is greater than the number of target grippers, then the relative distance from each target track to the target start point or the target end point is calculated, and the target tracks with smaller relative distances are sorted and determined as the final target tracks. If the target quantity of the target material grabber is greater than the target number of tracks, calculate the first time corresponding to the first material grabber grabbing the target material from the target starting point and transporting the target material to the preset intermediate position, and calculate the second time corresponding to the second material grabber grabbing the target material from the preset intermediate position and transporting the target material to the target endpoint. The first time and the second time are equal. The target material grabber includes the first material grabber and the second material grabber. The first material grabber places the target material at the preset intermediate position so that the second material grabber corresponding to the first material grabber grabs the target material from the preset intermediate position. The first material grabber and the second material grabber corresponding to the first material grabber are on the same track.

2. The material handling machine control method according to claim 1, characterized in that, Based on the work task information, the task type of the task to be executed is determined, including: Keyword extraction is performed on the work task information to obtain target keywords; The task type of the task to be executed is determined based on the target keywords.

3. The material handling machine control method according to claim 1, characterized in that, Determining the target material handler as the material handler whose current state is a preset material handler state and whose current material handler type corresponds to the task type includes: The current gripper state is matched with the preset gripper state to obtain a first matching result; The current material handling machine type is matched with the material handling machine type corresponding to the task type to obtain a second matching result; The initial material handling machine is determined based on the first matching result and the second matching result; The initial distance is determined based on the task starting point and the current position of the grabber, wherein the task information includes the task starting point and the grabber information includes the grabber position; The initial grippers are sorted according to the initial distance, and the target gripper is determined according to the sorting result.

4. The material handling machine control method according to any one of claims 1 to 3, characterized in that, Controlling the target material handling machine to execute the target task includes: Obtain the current position and the next position of the target material handling machine; The turning angle of the target material handling machine is determined based on the current position and the next position. The target material handling machine is controlled to turn based on the turning angle by a track direction conversion device.

5. The material handling machine control method according to claim 1, characterized in that, After controlling the target material handling machine to execute the target task, the method further includes: Detect whether the target material handling machine has any tasks to be executed; If it is detected that the target material handling machine has no task to be executed, then control the target material handling machine to move to the standby area; If the target material handling machine is detected to have a task to be executed, then the target material handling machine is controlled to travel to the starting point corresponding to the task to be executed.

6. A material handling machine control device, applied to the material handling machine control method as described in any one of claims 1 to 5, characterized in that, include: The acquisition module is used to acquire current track information and current area information of each work area, as well as work task information and current material grabber information, wherein the material grabber information includes material grabber status and material grabber type; The determination module is used to determine the task type of the task to be executed based on the work task information, and to determine the grabber whose current grabber status is a preset grabber status and whose current grabber type corresponds to the task type as the target grabber, wherein the grabber is used to grab materials and transport materials; The allocation module is used to allocate tasks to the target material grabber according to the current track information, the current area information and the work task information, so as to obtain the target task of the target material grabber; The control module is used to control the target material handling machine to perform the target task.

7. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the material handling machine control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by the computer's processor, causes the computer to perform the material handling machine control method according to any one of claims 1 to 5.

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