Intelligent material handling equipment and control method thereof

Abstract

The present invention discloses intelligent material handling equipment and a control method thereof, and relates to the technical field of material handling, wherein a determination module is used to determine a screen handling unit, and the handling information corresponding to the screen handling unit is matched based on a database; a handling module is connected to the determination module, and is used to carry the screen handling unit according to the handling information based on a camera, and the handling process of the screen handling unit is monitored to obtain the handling process information; a judgment module is connected to the handling module, and is used to take the handling process information that does not meet the preset conditions as abnormal information; and a control module is connected to the judgment module, and is used to adjust the handling information of the screen handling unit corresponding to the abnormal information. The screen handling information of the present invention is the handling contact position of the screen handling unit, and the handling information can be determined before the screen handling unit is handled, so that subsequent handling operations can be better performed, and it has a good planning effect, and can greatly improve the smoothness of the handling of the screen.

Description

Technical Field

[0001] The present invention relates to the technical field of material handling, and in particular to intelligent material handling equipment and a control method thereof. Background Art

[0002] With the continuous development of science and technology, the level of industrial automation and intelligence has been continuously improved, providing more advanced technical support for the processing and transportation of screens. The transportation of screens is inseparable from robots, especially the double-layer robot arm for screen transportation, which plays a vital role. The robot adopts advanced sensor technology and program control to achieve high-precision transportation operations. For example, the robot can be equipped with cameras and other devices to assist the robot in safely transporting the screen. At present, during the processing and transportation of the screen, the transportation of the screen needs to be extra careful not to fall or bump, so it is necessary to clarify the transportation path and contact position of the screen. At present, it is difficult to understand the actual situation of the screen transportation process, and thus it is impossible to control the transportation of the screen in real time and cannot guarantee the safety of the screen transportation. Summary of the invention

[0003] The purpose of the present invention is to provide intelligent material handling equipment and a control method thereof to solve the deficiencies in the background technology.

[0004] In order to achieve the above object, the present invention provides the following technical solution: intelligent material handling equipment, comprising:

[0005] A determination module, used for determining a screen transport unit, based on database matching and transport information corresponding to the screen transport unit, wherein the transport information includes transport position information and screen transport information;

[0006] A conveying module, connected to the determining module, is used to convey the screen conveying unit according to the conveying information based on the camera, and to monitor the conveying process of the screen conveying unit to obtain conveying process information;

[0007] The judgment module is connected to the conveying module and is used to treat the conveying process information that does not meet the preset conditions as abnormal information;

[0008] The control module is connected to the judgment module and is used to adjust the conveying information of the screen conveying unit corresponding to the abnormal information.

[0009] In a preferred embodiment, the determining module includes:

[0010] A setting unit, used for setting a database, wherein the database includes a screen transport unit and corresponding transport information;

[0011] The information determination unit is used to determine the screen transport unit that needs to be transported, based on the transport information of the corresponding screen transport unit matched by the database, the transport information includes transport position information and screen transport information, the transport position information is the transport route of the screen transport unit, and the screen transport information is the transport contact position of the screen transport unit.

[0012] In a preferred embodiment, the setting unit includes:

[0013] An information determination unit, used to determine a plurality of screen transport units, construct corresponding three-dimensional models corresponding to the plurality of screen transport units, and select a plurality of identification points in the three-dimensional model;

[0014] A setting unit is used to respectively determine the transport contact ranges of the plurality of screen transport units, mark the contours of the transport contact ranges and mark them in the corresponding three-dimensional model, select a plurality of contact points on the contours of the transport contact ranges, respectively perform emission association between the plurality of contact points and a plurality of identification points to obtain a plurality of association lines, bind the plurality of association lines, and obtain the transport contact positions of the screen transport units as the screen transport information;

[0015] A planning unit, used for obtaining corresponding screen transport destinations corresponding to the plurality of screen transport units, obtaining one or more initial locations of the screen transport units, and respectively establishing transport routes between the one or more initial locations of the screen transport units and the corresponding screen transport destinations as transport position information;

[0016] The management unit is used for taking the transport position information and the screen transport information as transport information, and binding the transport information with the corresponding screen transport unit to store the information in a database.

[0017] In a preferred embodiment, the setting unit further includes:

[0018] An involvement unit is used to respectively set the same number of involvement points between the multiple association lines, divide the involvement points on the multiple association lines according to the number of the involvement points to obtain an involvement point set with the same number of involvement points as that on a single association line, and connect the involvement points in the involvement point set on the multiple association lines to form an involvement network;

[0019] The binding unit is used to bind a plurality of associated lines through the pulling net to obtain the conveying contact position of the screen conveying unit as the screen conveying information.

[0020] In a preferred embodiment, the transport module comprises:

[0021] A conveying unit, used for conveying the screen conveying unit according to conveying information based on the camera;

[0022] The real-time acquisition unit is used to obtain the real-time transport position information and real-time screen transport information of the screen transport unit during the transport process as transport process information.

[0023] In a preferred embodiment, the judgment module includes:

[0024] A condition preset unit, used to set preset conditions, wherein the preset conditions include a transport position information preset condition and a screen transport information preset condition;

[0025] A first judgment unit, used for taking the real-time transport position information that does not meet the preset condition of the transport position information as the first abnormal information;

[0026] A calculation unit, used for obtaining a screen transport index based on real-time screen transport information;

[0027] The second judgment unit is used to use the screen transfer index that does not meet the preset condition of the screen transfer information as the second abnormal information, and define the first abnormal information and the second abnormal information as abnormal information.

[0028] In a preferred embodiment, the control module includes:

[0029] A first control unit, used to adjust the real-time transport position information of the screen transport unit corresponding to the first abnormal information;

[0030] The second control unit is used to adjust the real-time screen conveying information of the screen conveying unit corresponding to the second abnormal information.

[0031] The present invention also provides an intelligent material handling control method, comprising the following steps:

[0032] Determine a screen transport unit, and match transport information corresponding to the screen transport unit based on a database, wherein the transport information includes transport position information and screen transport information;

[0033] Based on the camera, the screen transport unit is transported according to the transport information, and the transport process of the screen transport unit is monitored to obtain the transport process information;

[0034] Treat the transport process information that does not meet the preset conditions as abnormal information;

[0035] The transport information of the screen transport unit corresponding to the abnormal information is adjusted.

[0036] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0037] The present invention needs to match and store information according to the screen transport unit and the corresponding transport information, and then obtain a database. When the screen needs to be transported later, the screen transport unit to be transported needs to be determined, and then the corresponding transport information is matched in the database according to the screen transport unit to be transported. The transport information includes transport position information and screen transport information. The transport position information is the transport route of the screen transport unit, and the screen transport information is the transport contact position of the screen transport unit. The transport information can be determined before the screen transport unit is transported, and subsequent transport operations can be better performed. It has a good planning effect and can greatly improve the smoothness of screen transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0039] Figure 1 It is a system block diagram of the transport equipment of the present invention.

[0040] Figure 2 The figure is a flowchart of the method of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] Example 1, please refer to Figure 1 As shown, the intelligent material handling equipment described in this embodiment includes:

[0043] A determination module, used for determining a screen transport unit, based on database matching and transport information corresponding to the screen transport unit, wherein the transport information includes transport position information and screen transport information;

[0044] The conveying module is connected to the determination module and is used to convey the screen conveying unit according to the conveying information based on the camera, and monitor the conveying process of the screen conveying unit to obtain conveying process information (the camera here is set on the robot arm that conveys the screen, and the camera can collect the scene of conveying the screen);

[0045] The judgment module is connected to the conveying module and is used to treat the conveying process information that does not meet the preset conditions as abnormal information;

[0046] The control module is connected to the judgment module and is used to adjust the conveying information of the screen conveying unit corresponding to the abnormal information (here, the screen conveying of the robot is mainly controlled by the program, and here the screen conveying control is performed on a robot);

[0047] It should be noted that with the continuous development of science and technology, the level of industrial automation and intelligence has been continuously improved, providing more advanced technical support for the processing and transportation of screens. For example, advanced handling machinery, automated production lines and intelligent control systems, etc. As consumers' demand for electronic products continues to increase, competition in the screen market is also becoming increasingly fierce. In order to seize market share, factories need to continuously improve production efficiency and product quality and reduce production costs. During the processing and transportation of the screen, special attention should be paid to avoid falling or bumping. Therefore, it is necessary to clarify the transportation path and transportation contact position of the screen. At present, it is difficult to understand the actual situation of the screen transportation process, and thus it is impossible to control the transportation of the screen in real time and ensure the safety of the screen transportation. In this application, it is necessary to correspond and store information according to the screen transportation unit and the corresponding transportation information, and then obtain a database. When the screen needs to be transported, it is necessary to determine the screen transportation unit to be transported, and then match the corresponding transportation information in the database according to the screen transportation unit to be transported. The transportation information includes transportation position information and screen transportation information. The transportation position information is the transportation route of the screen transportation unit, and the screen transportation information is the transportation contact position of the screen transportation unit. The transportation information can be determined before the screen transportation unit is transported, and the subsequent transportation operation can be better performed. It has a good planning effect and can greatly improve the smoothness of the screen transportation.

[0048] In one embodiment, the determining module includes:

[0049] A setting unit, used for setting a database, wherein the database includes a screen transport unit and corresponding transport information;

[0050] An information determination unit, used for determining the screen transport unit that needs to be transported, and matching the transport information of the corresponding screen transport unit based on the database, wherein the transport information includes transport position information and screen transport information, wherein the transport position information is the transport route of the screen transport unit, and the screen transport information is the transport contact position of the screen transport unit;

[0051] It should be noted that in the production process of the corresponding screen, the screen needs to be transported. There are many forms of screen transportation here, for example, direct transportation of a single screen, or transportation of multiple screens or transportation of multiple screens after they are assembled into a box and loaded together, which is defined here as a screen transportation unit. Different screen transportation units represent different transportation purposes, so different purposes represent different or same transportation locations. Different screen transportation units represent different links in the production process, and different links represent different destinations of the screen transportation units. There are corresponding screen transportation unit locations, which need to be It is necessary to match and store information according to the screen transport unit and the corresponding transport information, and then obtain a database. When the screen needs to be transported later, it is necessary to determine the screen transport unit to be transported, and then match the corresponding transport information in the database according to the screen transport unit to be transported. The transport information includes transport position information and screen transport information. The transport position information is the transport route of the screen transport unit, and the screen transport information is the transport contact position of the screen transport unit. The transport information can be determined before the screen transport unit is transported, so that the subsequent transport operation can be better performed, which has a good planning effect and can greatly improve the smoothness of the screen transport.

[0052] In one embodiment, the setting unit includes:

[0053] An information determination unit, used to determine a plurality of screen transport units, construct corresponding three-dimensional models corresponding to the plurality of screen transport units, and select a plurality of identification points in the three-dimensional model;

[0054] A setting unit is used to respectively determine the transport contact ranges of the plurality of screen transport units, mark the contours of the transport contact ranges and mark them in the corresponding three-dimensional model, select a plurality of contact points on the contours of the transport contact ranges, respectively perform emission association between the plurality of contact points and a plurality of identification points to obtain a plurality of association lines, bind the plurality of association lines, and obtain the transport contact positions of the screen transport units as the screen transport information;

[0055] A planning unit, used for obtaining corresponding screen transport destinations corresponding to the plurality of screen transport units, obtaining one or more initial locations of the screen transport units, and respectively establishing transport routes between the one or more initial locations of the screen transport units and the corresponding screen transport destinations as transport position information;

[0056] A management unit, used for taking the transport position information and the screen transport information as transport information, and binding the transport information with the corresponding screen transport unit to store the information in a database;

[0057] It should be noted that, when determining multiple screen transport units, for example, the transport of a single screen, the stacking and transport of multiple screens, or the combination of multiple screens placed in a device box, there may be multiple screen transport units, and then corresponding three-dimensional models are constructed corresponding to the multiple screen transport units, and multiple identification points are selected in the three-dimensional model, where the sizes and shapes of the multiple screen transport units are collected, and then the multiple screen transport units are constructed respectively according to the collected information to obtain the three-dimensional models of the corresponding screen transport units, and the multiple screen transport units have a certain transport contact range. For example, when the screen transport unit is transported by a robot, it is necessary to contact the screen transport unit within a certain range to ensure the stability of the transport of the screen transport unit. For example, a corresponding grabbing and transporting balance position is set for the screen transport unit, and then the robot is obtained in the balance position according to the shape of the robot. The grasping range set is used as the transport contact range. If there is a transport contact range, there will be an outline of the transport contact range. Then, the outline of the transport contact range is marked and marked in the corresponding three-dimensional model. Multiple contact points are selected on the outline of the transport contact range. The multiple contact points are respectively associated with multiple identification points to obtain multiple association lines. The multiple association lines are bound to obtain the transport contact position of the screen transport unit as the screen transport information. The contact points on the outline are associated with the multiple identification points, and the multiple association lines are bound. The entire information including the contact points, identification points, multiple bound association lines and the transport contact range is used as the screen transport information. This process ensures the accurate correspondence and tracking of the contact points during the transport process. To plan the transport tasks of multiple screen transport units, it is first necessary to clarify the target transport destination of each screen transport unit. Identify and record the current initial position or positions of each transport unit; based on the information of these initial positions and target destinations, design and construct one or more reasonable transport paths for each transport unit; these paths describe in detail the complete movement process from the initial position to the target destination, forming the core part of the transport location information; tailor-made transport route maps are provided for each screen transport unit, which clearly indicate all necessary steps from the starting point to the end point, thus forming complete and specific transport location information to facilitate the smooth subsequent transport of screens;

[0058] In one embodiment, the setting unit further includes:

[0059] An involvement unit is used to respectively set the same number of involvement points between the multiple association lines, divide the involvement points on the multiple association lines according to the number of the involvement points to obtain an involvement point set with the same number of involvement points as that on a single association line, and connect the involvement points in the involvement point set on the multiple association lines to form an involvement network;

[0060] A binding unit, used for binding a plurality of associated lines through a pulling net, and obtaining a conveying contact position of a screen conveying unit as screen conveying information;

[0061] It should be noted that the same number of entanglement points are respectively set on multiple association lines, and the entanglement points on the multiple association lines are divided according to the number of entanglement points to obtain an entanglement point set with the same number of entanglement points as that on a single association line. For example, there are three association lines A, B and C, and there are three entanglement points on each association line. Then, according to the order of the entanglement points on the association lines, the first entanglement points on the three association lines A, B and C are taken as an entanglement point set, and three entanglement point sets are sequentially combined to obtain the entanglement points in the entanglement point sets on the multiple association lines. The entanglement points in the entanglement point sets on the multiple association lines are connected to form an entanglement network. Here, the three entanglement points are three entanglement networks, which can facilitate the subsequent understanding of the conveying status of the screen according to the area surrounded by the entanglement network, have a better screen conveying control function, can ensure the stability of the screen during the clamping or lifting conveying process, and avoid the problem of conveying position during the conveying process of the screen causing damage to the screen;

[0062] In one embodiment, the transport module comprises:

[0063] A conveying unit, used for conveying the screen conveying unit according to conveying information based on the camera;

[0064] A real-time acquisition unit, used to obtain real-time transport position information and real-time screen transport information of the screen transport unit during the transport process as transport process information;

[0065] It should be noted that the screen transport unit is transported according to the transport information, that is, the screen transport information between the manipulator and the screen transport unit is determined. Here, the screen transport unit is transported according to the transport information. Therefore, the transport contact range of the manipulator and the screen transport unit and the screen transport information are consistent. Here, the screen transport unit can be transported. What needs to be controlled is whether there is a change in the transport information during the screen transport process. Therefore, it is necessary to obtain the real-time transport position information and the screen transport information of the screen transport unit during the transport process as the transport process information. The real-time transport position information here is the real-time transport route of the screen transport unit, so that the actual transport situation of the screen transport unit can be understood, and then the control of the screen transport unit is completed to ensure the safety of the transport of the screen transport unit.

[0066] In one embodiment, the judgment module includes:

[0067] A condition preset unit, used to set preset conditions, wherein the preset conditions include a transport position information preset condition and a screen transport information preset condition;

[0068] A first judgment unit, used for taking the real-time transport position information that does not meet the preset condition of the transport position information as the first abnormal information;

[0069] The calculation unit is used to obtain a screen transport index based on the real-time screen transport information, wherein the calculation formula of the screen transport index is:

[0070] ,in, For the screen transfer index, It is the area difference value between the involved net in the real-time screen transmission information and the involved net in the corresponding database. It is the logarithm of the length change between the involved net in the real-time screen transport information and the involved points in the involved net in the corresponding database. is the number of involved networks, and are all constants greater than zero. It should be noted that and The bigger, the The larger the value, the higher the risk of screen transfer;

[0071] A second judgment unit is used to use the screen transfer index that does not meet the preset condition of the screen transfer information as the second abnormal information, and define the first abnormal information and the second abnormal information as abnormal information;

[0072] It should be noted that, first, preset conditions are set. Since the screen transport unit has two monitoring directions, namely, the transport route and the contact position of the screen transport unit, there are two transport control items. The preset conditions include the transport position information preset conditions and the screen transport information preset conditions. The real-time transport position information that does not meet the transport position information preset conditions is used as the first abnormal information. The real-time transport position information here is the real-time transport route of the screen transport unit. Therefore, if the transport route here does not meet the transport position information preset conditions, it can be directly obtained. The transport position information preset conditions here are consistent with the transport position information in the database. Then, according to the screen transport index, the real-time transport position information is The area difference value between the pulling net in the screen transport information and the pulling net in the corresponding database, the logarithm of the length change between the pulling net in the real-time screen transport information and the pulling point in the pulling net in the corresponding database, and the screen transport index are calculated. The change of the screen transport information can be understood through the change of the area enclosed by the pulling net, and the change of the screen transport unit during the transport process can be more sensitively perceived. Combined with the preset conditions of the screen transport information, the safety of the screen transport unit during the transport process can be understood. It has a better monitoring effect, is more sensitive and efficient, better guarantees the safety of the screen transport unit during the transport process, and can perform timely transport control of the screen transport unit;

[0073] In one embodiment, the control module comprises:

[0074] A first control unit, used to adjust the real-time transport position information of the screen transport unit corresponding to the first abnormal information;

[0075] A second control unit, used for adjusting the real-time screen conveying information of the screen conveying unit corresponding to the second abnormal information;

[0076] It should be noted that by adjusting the real-time transport position information of the screen transport unit corresponding to the first abnormal information, the path of the transport screen transport unit can be adjusted to be consistent with the preset condition of the transport position information, and the real-time screen transport information of the screen transport unit corresponding to the second abnormal information is adjusted so that the screen transport index of the real-time screen transport information of the screen transport unit meets the preset condition of the screen transport information, thereby better realizing the transport of the screen;

[0077] Example 1, please refer to Figure 1 As shown, the intelligent material handling control method described in this embodiment includes the following steps:

[0078] Determine a screen transport unit, and match transport information corresponding to the screen transport unit based on a database, wherein the transport information includes transport position information and screen transport information;

[0079] Based on the camera, the screen transport unit is transported according to the transport information, and the transport process of the screen transport unit is monitored to obtain the transport process information;

[0080] Treat the transport process information that does not meet the preset conditions as abnormal information;

[0081] The transport information of the screen transport unit corresponding to the abnormal information is adjusted.

[0082] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. Intelligent material handling equipment, characterized by: include: A determination module, used for determining a screen transport unit, based on database matching and transport information corresponding to the screen transport unit, wherein the transport information includes transport position information and screen transport information; A conveying module, connected to the determining module, is used to convey the screen conveying unit according to the conveying information based on the camera, and to monitor the conveying process of the screen conveying unit to obtain conveying process information; The judgment module is connected to the conveying module and is used to treat the conveying process information that does not meet the preset conditions as abnormal information; A control module, connected to the judgment module, for adjusting the conveying information of the screen conveying unit corresponding to the abnormal information; The determination module comprises: A setting unit, used for setting a database, wherein the database includes a screen transport unit and corresponding transport information; An information determination unit, used for determining the screen transport unit that needs to be transported, and matching the transport information of the corresponding screen transport unit based on the database, wherein the transport information includes transport position information and screen transport information, wherein the transport position information is the transport route of the screen transport unit, and the screen transport information is the transport contact position of the screen transport unit; The setting unit comprises: An information determination unit, used to determine a plurality of screen transport units, construct corresponding three-dimensional models corresponding to the plurality of screen transport units, and select a plurality of identification points in the three-dimensional model; A setting unit is used to respectively determine the transport contact ranges of the plurality of screen transport units, mark the contours of the transport contact ranges and mark them in the corresponding three-dimensional model, select a plurality of contact points on the contours of the transport contact ranges, respectively perform emission association between the plurality of contact points and a plurality of identification points to obtain a plurality of association lines, bind the plurality of association lines, and obtain the transport contact positions of the screen transport units as the screen transport information; A planning unit, used for obtaining corresponding screen transport destinations corresponding to the plurality of screen transport units, obtaining one or more initial locations of the screen transport units, and respectively establishing transport routes between the one or more initial locations of the screen transport units and the corresponding screen transport destinations as transport position information; A management unit, used for taking the transport position information and the screen transport information as transport information, and binding the transport information with the corresponding screen transport unit to store the information in a database; The setting unit also includes: An involvement unit is used to respectively set the same number of involvement points between the multiple association lines, divide the involvement points on the multiple association lines according to the number of the involvement points to obtain an involvement point set with the same number of involvement points as that on a single association line, and connect the involvement points in the involvement point set on the multiple association lines to form an involvement network; The binding unit is used to bind a plurality of associated lines through the pulling net to obtain the conveying contact position of the screen conveying unit as the screen conveying information.

2. The intelligent material handling equipment according to claim 1 is characterized in that: The transport module comprises: A conveying unit, used for conveying the screen conveying unit according to conveying information based on the camera; The real-time acquisition unit is used to obtain the real-time transport position information and real-time screen transport information of the screen transport unit during the transport process as transport process information.

3. The intelligent material handling equipment according to claim 1 is characterized in that: The judging module comprises: A condition preset unit, used to set preset conditions, wherein the preset conditions include a transport position information preset condition and a screen transport information preset condition; A first judgment unit, used for taking the real-time transport position information that does not meet the preset condition of the transport position information as the first abnormal information; A calculation unit, used for obtaining a screen transport index based on real-time screen transport information; The second judgment unit is used to use the screen transfer index that does not meet the preset condition of the screen transfer information as the second abnormal information, and define the first abnormal information and the second abnormal information as abnormal information.

4. The intelligent material handling equipment according to claim 1 is characterized in that: The control module comprises: A first control unit, used to adjust the real-time transport position information of the screen transport unit corresponding to the first abnormal information; The second control unit is used to adjust the real-time screen conveying information of the screen conveying unit corresponding to the second abnormal information.

5. An intelligent material handling control method, applied to the intelligent material handling equipment according to any one of claims 1 to 4, characterized in that: The following steps are involved: Determine a screen transport unit, and match transport information corresponding to the screen transport unit based on a database, wherein the transport information includes transport position information and screen transport information; Based on the camera, the screen transport unit is transported according to the transport information, and the transport process of the screen transport unit is monitored to obtain the transport process information; Treat the transport process information that does not meet the preset conditions as abnormal information; The transport information of the screen transport unit corresponding to the abnormal information is adjusted.

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