Double manipulator access file box method applied to closed warehouse file storage equipment

Abstract

The present invention discloses a dual-manipulator file box access method applied to a closed warehouse file storage device, which relates to the field of intelligent file management technology, and includes the following steps: a PC sends an action instruction to a manipulator A, and when the action instruction is a general access action instruction, a PLC system needs to determine whether another manipulator B is idle, and obtain the position information of manipulators A and B according to a position determination strategy, and determine whether the command positions of manipulators A and B affect each other. If the stop position of the action instruction of manipulator A conflicts with that of manipulator B, the PLC system generates an avoidance action instruction strategy for manipulator B and executes it. The present invention ensures that while efficiently executing the file access instruction, the path conflict between manipulators is avoided, greatly improving the overall operation efficiency of the system, reducing the loss rate of the equipment, and thus improving the service life of the intelligent file cabinet system and the intelligent level of file management.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent file management, and in particular to a double-manipulator file box access method applied to a closed warehouse file storage device. Background Art

[0002] With the development of informatization and the improvement of modern office efficiency, intelligent filing cabinet systems have been widely used in various enterprises and institutions. These intelligent filing cabinet systems are usually equipped with robots to realize automated file access operations, thereby greatly improving the efficiency and accuracy of file management. However, existing intelligent filing cabinet systems generally have the limitations of single robot operation, especially in high-frequency, multi-task file management scenarios, the work efficiency of a single robot is difficult to meet actual needs. In addition, when there are multiple robots in the system, how to coordinate the movement between the robots to avoid conflicts and improve operational efficiency has become a major problem in the existing technology.

[0003] In the prior art, some solutions attempt to improve the efficiency of file access by introducing the collaborative work of multiple manipulators. However, due to the complex operation paths of multiple manipulators, the collaborative control between manipulators is difficult, which often leads to conflicts in the operation paths, thereby reducing the efficiency of file access, and even physical collisions between manipulators, increasing the loss rate and maintenance costs of the equipment. Therefore, how to avoid path conflicts and improve the overall operating efficiency of the intelligent filing cabinet system while ensuring the efficient collaborative work of the manipulators is still a technical problem that needs to be solved in the industry. Summary of the invention

[0004] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0005] In view of the problems existing in the above-mentioned existing double-manipulator file box access method applied to the closed warehouse file storage device, the present invention is proposed.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] A dual-manipulator file box access method for a closed warehouse file storage device, the method comprising the following steps:

[0008] Step 1: The PC sends an action command to robot A. The PLC system determines whether robot A is idle based on the actual situation. If it is idle, it receives the action command. Otherwise, it replies to the PC that robot A is busy.

[0009] Step 2: When the action instruction is a general access action instruction, the PLC system needs to determine whether the other robot B is idle;

[0010] Step 3: When robot B is not idle, the position information of robots A and B is obtained according to the position determination strategy to determine whether the command positions of robots A and B affect each other. If not, the access action instruction is executed according to the conventional single-handed movement logic;

[0011] Step 4: When robot B is idle, continue to wait for 300ms. If it is still in the idle state, obtain the X-axis position information of robots A and B according to the conflict judgment strategy, and check whether the stop position of the action instruction of robot A conflicts. If there is no conflict, execute the access action instruction according to the conventional single-hand movement logic;

[0012] If after waiting for 300ms, robot B is not in an idle state, the two-hand movement logic is executed normally;

[0013] Step 5: If the stop position of the action command of robot A conflicts with that of robot B, the PLC system generates an avoidance action command strategy for robot B. According to the avoidance action command strategy, the two-hand movement logic is executed normally.

[0014] As a preferred solution of the dual-manipulator file box access method applied to the closed warehouse file storage device of the present invention, the position determination strategy of step three is:

[0015] Whether the Y value of the target position of robot B falls within the range of [robot A target position - iMinSpaceY, robot A target position + iMinSpaceY], if so, the command positions of both hands affect each other and cannot work at the same time, where iMinSpaceY represents the safety gap in the Y-axis direction of robot A and robot B.

[0016] As a preferred solution of the dual manipulator access file box method applied to the closed warehouse file storage device of the present invention, the conflict determination strategy of step 4 includes:

[0017] Manipulator A is in front of manipulator B. If the final X-axis position of manipulator A + iMinSpaceX is less than or equal to the actual position of manipulator B, then there is no need to avoid, otherwise it is necessary to avoid;

[0018] Where iMinSpaceX represents the safety gap between manipulator A and manipulator B in the X-axis direction.

[0019] As a preferred solution of the dual manipulator access file box method applied to the closed warehouse file storage device of the present invention, the conflict determination strategy of step 4 also includes:

[0020] Robot A is behind robot B. If the final X-axis position of robot A -iMinSpaceX is greater than or equal to the actual position of robot B, then there is no need to avoid, otherwise it is necessary to avoid.

[0021] As a preferred solution of the dual manipulator access file box method applied to the closed warehouse file storage device of the present invention, the avoidance action instruction strategy in step 5 includes:

[0022] When robot A is at the front of robot B, if the X value of robot A at the final position of the X axis is less than: R_Limit_Max-iMinSpaceX, then the X value of robot B = MAX (the final X value of robot A, R Limit_ Min) + iMinSpaceX, and the Y value of robot B remains unchanged, where R_Limit_Max represents the maximum rotatable X value of the robot; otherwise, the X value of robot B = MIN (the final X value of robot A - iMinSpaceX, R_Limit_Max-iMinSpaceX, the current X value of robot B), that is, the minimum value is taken, and the Y value of robot B needs to be changed when it crosses forward and backward.

[0023] As a preferred solution of the dual manipulator access file box method applied to the closed warehouse file storage device of the present invention, the avoidance action instruction strategy in step 5 also includes:

[0024] When robot A is at the rear end of robot B, if the X value of robot A at the final position of the X axis is greater than: R_Limit_Min+iMinSpaceX, then the X value of robot B = MIN (the final X value of robot A, R_Limit_Max) - iMinSpaceX, and the Y value of robot B remains unchanged, where R_Limit_Min represents the minimum rotatable X value of the robot; otherwise, the X value of robot B = MAX (the final X value of robot A on the X axis + iMinSpaceX, R_Limit_Min+iMinSpaceX, the current X value of robot B), that is, the maximum value is taken, and the Y value of robot B needs to be changed when it crosses forward and backward.

[0025] As a preferred solution of the dual manipulator access file box method applied to the closed warehouse file storage device of the present invention, wherein: according to the action instruction strategy, when the Y value needs to cross forward and backward:

[0026] If the Y target position of robot A is greater than the maximum Y value of robot B - iMinSpaceY, robot B can only avoid from below, then the Y value of robot B = MIN (Y target value of robot A - iinSpaceY, current Y value of robot B);

[0027] When the Y value of the target position of robot A is less than the minimum Y value of robot B + iMinSpacey, robot B can only avoid from above, then the Y value of robot B = MAX (Y target value of robot A + iMinSpaceX, current Y value of robot B);

[0028] When the Y value of the Y target position of robot A is greater than the Y value of the current position of robot B, robot B avoids from the bottom, then the Y value of robot B = MIN (Y target value of robot A - iMinSpaceY, current Y value of robot B); or robot B avoids from the top, then the Y value of robot B = MAX (Y target value of robot A + iMinSpaceY, current Y value of robot B).

[0029] As a preferred solution of the dual-manipulator file box access method applied to the closed warehouse file storage device of the present invention, the action instruction in step 2 also includes:

[0030] Initialization instruction, that is, the C axis of robot A opens first, the Z axis returns to zero, and then the C axis returns to zero. After the X axis moves to a safe position, the R axis returns to zero.

[0031] As a preferred solution of the dual manipulator access file box method applied to the closed warehouse file storage device of the present invention, when executing the initialization instruction,

[0032] Currently, robot A is in front of robot B, and the position of the safety R axis is half a spacing forward of the center position of both hands at R_Limit_Min, then initialization is completed.

[0033] As a preferred solution of the dual manipulator access file box method applied to the closed warehouse file storage device of the present invention, when executing the initialization instruction,

[0034] Currently, robot A is behind robot B, and the position of the safety R axis is half a spacing behind the center position of both hands at R_Limit_Max, then initialization is completed.

[0035] Beneficial effects of the present invention: By introducing a conflict detection and avoidance mechanism based on position determination, efficient coordination and conflict avoidance between manipulators in the process of collaborative operation of multiple manipulators are achieved. This method determines the state, position and command conflict of the manipulator in real time, reasonably arranges the operation logic of one hand or two hands, ensures that while executing the file access instructions efficiently, path conflicts between manipulators are avoided, greatly improves the overall operating efficiency of the system, reduces the loss rate of equipment, and thus improves the service life of the intelligent filing cabinet system and the intelligent level of file management. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0037] Figure 1 This is a schematic diagram of the overall structure of the double-manipulator file box access method applied to the closed warehouse file storage device proposed by the present invention;

[0038] Figure 2 This is an action indication diagram of each axis of the manipulator in the double-manipulator file box access method applied to the closed-bin file storage device proposed by the present invention. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0040] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0041] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0042] Reference Figure 1-Figure 2 , as one embodiment of the present invention, provides a dual-manipulator file box access method for a closed warehouse file storage device, the method comprising the following steps:

[0043] Step 1: The PC sends an action command to robot A. The PLC system determines whether robot A is idle based on the actual situation. If it is idle, it receives the action command. Otherwise, it replies to the PC that robot A is busy.

[0044] Step 2: When the action instruction is a general access action instruction, the PLC system needs to determine whether the other robot B is idle;

[0045] Step 3: When robot B is not idle, the position information of robots A and B is obtained according to the position determination strategy to determine whether the command positions of robots A and B affect each other. If not, the access action instruction is executed according to the conventional single-handed movement logic;

[0046] Specifically, the location determination strategy:

[0047] Whether the Y value of the target position of robot B falls within the range of [robot A target position - iMinSpaceY, robot A target position + iMinSpaceY], if so, the command positions of both hands affect each other and cannot work at the same time, where iMinSpaceY represents the safety gap in the Y-axis direction of robot A and robot B.

[0048] Application of position determination strategy: When robot B is not idle, the system obtains the position information of robots A and B to determine whether the command positions of the two affect each other. If not, the access action command is executed according to the conventional single-handed movement logic, avoiding unnecessary waiting time and thus improving the efficiency of access operations.

[0049] Step 4: When robot B is idle, continue to wait for 300ms. If it is still in the idle state, obtain the X-axis position information of robots A and B according to the conflict judgment strategy, and check whether the stop position of the action instruction of robot A conflicts. If there is no conflict, execute the access action instruction according to the conventional single-hand movement logic;

[0050] If after waiting for 300ms, robot B is not in an idle state, the two-hand movement logic is executed normally;

[0051] Intelligent switching of two-handed movement logic: If robot B changes from idle to non-idle after waiting for 300ms, the system will automatically switch to two-handed movement logic to adapt to the current operation requirements. This intelligent switching mechanism ensures that the collaboration between robots is more efficient in complex operation environments and maximizes the use of equipment resources.

[0052] Step 5: If the stop position of the action command of robot A conflicts with that of robot B, the PLC system generates an avoidance action command strategy for robot B. According to the avoidance action command strategy, the two-hand movement logic is executed normally.

[0053] Specifically, the conflict determination strategy is:

[0054] Robot A is in front of robot B. If the final X-axis position + iMinSpaceX (the safety gap between the two robots in the X direction) is less than or equal to the actual position of robot B, then there is no need to avoid it. Otherwise, it needs to avoid it.

[0055] Robot A is behind robot B. If the final X-axis position - iMinSpaceX (the safety gap between the two robots in the X direction) is greater than or equal to the actual position of robot B, then there is no need to avoid it. Otherwise, it is necessary to avoid it.

[0056] Application of conflict determination strategy: When robot B is in idle state, the system will continue to wait for 300ms to determine whether robot B is continuously idle. If robot B is continuously idle, the system will check the X-axis position information of robots A and B according to the conflict determination strategy to ensure that there will be no conflict in operation. If there is no conflict, the system will execute the instruction according to the conventional single-hand movement logic to avoid robot path overlap caused by position conflict, further improving the safety and efficiency of operation.

[0057] Specifically, the avoidance action instruction strategy is:

[0058] Strategy 1: When robot A is at the front of robot B, if the X value of robot A at the final position of the X axis is less than: R_Limit_Max-iMinSpaceX, then the X value of robot B = MAX (the final X value of robot A, R Limit_ Min) + iMinSpaceX, and the Y value of robot B remains unchanged, where R_Limit_Max represents the maximum rotatable X value of the robot; otherwise, the X value of robot B = MIN (the final X value of robot A - iMinSpaceX, R_Limit_Max-iMinSpaceX, the current X value of robot B), that is, the minimum value is taken, and the Y value of robot B needs to be changed when it crosses forward and backward;

[0059] Strategy 2: When robot A is at the rear end of robot B, if the X value of robot A at the final position of the X axis is greater than: R_Limit_Min+iMinSpaceX, then the X value of robot B = MIN (the final X value of robot A, R_Limit_Max) - iMinSpaceX, and the Y value of robot B remains unchanged, where R_Limit_Min represents the minimum rotatable X value of the robot; otherwise, the X value of robot B = MAX (the final X value of robot A on the X axis + iMinSpaceX, R_Limit_Min+iMinSpaceX, the current X value of robot B), that is, the maximum value is taken, and the Y value of robot B needs to be changed when it crosses back and forth.

[0060] According to the above strategy, when the Y value needs to cross forward and backward

[0061] If the Y target position of robot A is greater than the maximum Y value of robot B - iMinSpaceY, robot B can only avoid from below, then the Y value of robot B = MIN (Y target value of robot A - iinSpaceY, current Y value of robot B);

[0062] When the Y value of the target position of robot A is less than the minimum Y value of robot B + iMinSpacey, robot B can only avoid from above, then the Y value of robot B = MAX (Y target value of robot A + iMinSpaceX, current Y value of robot B);

[0063] When the Y value of the Y target position of robot A is greater than the Y value of the current position of robot B, robot B avoids from the bottom, then the Y value of robot B = MIN (Y target value of robot A - iMinSpaceY, current Y value of robot B); or robot B avoids from the top, then the Y value of robot B = MAX (Y target value of robot A + iMinSpaceY, current Y value of robot B).

[0064] Application of avoidance action command strategy: When the command positions of manipulators A and B conflict, the PLC system generates an avoidance action command strategy for manipulator B, and resolves the conflict through avoidance actions, ensuring that the manipulators can successfully complete their respective tasks during the two-hand operation process. This avoidance mechanism reduces the risk of physical collision between manipulators, reduces the equipment loss rate, and also improves the safety and service life of the intelligent filing cabinet system.

[0065] It should be further explained that the action instructions also include: initialization instructions, that is, the C axis of the robot A is first opened, the Z axis returns to zero, and then the C axis returns to zero, and after the X axis moves to a safe position, the R axis returns to zero.

[0066] Currently, robot A is in front of robot B, and the safe R-axis position is at R_Limit_Min (the minimum X-axis value of the R-axis rotation) and half a spacing forward of the center position of both hands;

[0067] Currently, robot A is behind robot B, and the safe R-axis position is half a spacing behind the center position of both hands at R_Limit_Max (the maximum X-axis direction of the R-axis). Initialization is completed.

[0068] It should be noted that the X-axis refers to the overall X-movement of the robot, the Y-axis refers to the overall Y-axis movement of the robot, the Z-axis refers to the extension direction of the mechanical hook in the robot, the C-axis refers to the retraction direction of the mechanical gripper in the robot, and the R-axis refers to the self-rotation direction of the robot.

[0069] In summary, the present invention achieves efficient coordination and conflict avoidance between manipulators during the collaborative operation of multiple manipulators by introducing a conflict detection and avoidance mechanism based on position determination. This method determines the state, position and command conflict of the manipulator in real time, and reasonably arranges the operation logic of one hand or two hands, ensuring that while efficiently executing the file access instructions, path conflicts between manipulators are avoided, greatly improving the overall operating efficiency of the system, reducing the loss rate of equipment, and thus improving the service life of the intelligent filing cabinet system and the intelligent level of file management.

[0070] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A dual-manipulator file box access method for a closed-bin file storage device, characterized in that: The method comprises the following steps: Step 1: The PC sends an action command to robot A. The PLC system determines whether robot A is idle based on the actual situation. If it is idle, it receives the action command. Otherwise, it replies to the PC that robot A is busy. Step 2: When the action instruction is a general access action instruction, the PLC system needs to determine whether the other robot B is idle; Step 3: When robot B is not idle, the position information of robots A and B is obtained according to the position determination strategy to determine whether the command positions of robots A and B affect each other. If not, the access action instruction is executed according to the conventional single-handed movement logic; Step 4: When robot B is idle, continue to wait for 300ms. If it is still in the idle state, obtain the X-axis position information of robots A and B according to the conflict judgment strategy, and check whether the stop position of the action instruction of robot A conflicts. If there is no conflict, execute the access action instruction according to the conventional single-hand movement logic; If after waiting for 300ms, robot B is not in an idle state, the two-hand movement logic is executed normally; Step 5: If the stop position of the motion instruction of robot A conflicts with that of robot B, the PLC system generates an avoidance motion instruction strategy for robot B. According to the avoidance motion instruction strategy, the two-hand movement logic is executed normally; The position determination strategy of step three is: whether the Y value of the target position of manipulator B falls within the interval [manipulator A target position - iMinSpaceY, manipulator A target position + iMinSpaceY], if so, the command positions of both hands affect each other and cannot work at the same time, where iMinSpaceY represents the safety gap in the Y-axis direction of manipulator A and manipulator B; The conflict determination strategy of step 4 includes: if manipulator A is at the front of manipulator B, if the final X-axis position of manipulator A + iMinSpaceX is less than or equal to the actual position of manipulator B, then no avoidance is required, otherwise avoidance is required; wherein iMinSpaceX represents the X-axis safety clearance between manipulator A and manipulator B; The avoidance action instruction strategy in step 5 includes: when manipulator A is at the front end of manipulator B, if the X value of manipulator A at the final position of the X axis is less than: R_Limit_Max-iMinSpaceX, then the X value of manipulator B = MAX (the final X value of manipulator A, R Limit_Min) + iMinSpaceX, and the Y value of manipulator B remains unchanged, where R_Limit_Max represents the maximum rotatable X value of the manipulator; otherwise, the X value of manipulator B = MIN (the final X value of manipulator A-iMinSpaceX, R_Limit_Max-iMinSpaceX, the current X value of manipulator B), that is, the minimum value is taken, and the Y value of manipulator B needs to be changed when crossing forward and backward; Among them, the X-axis refers to the overall X-movement of the manipulator, the Y-axis refers to the overall Y-axis movement of the manipulator, the Z-axis refers to the extension direction of the mechanical hook in the manipulator, the C-axis refers to the retraction direction of the mechanical gripper in the manipulator, and the R-axis refers to the self-rotation direction of the manipulator.

2. The dual-manipulator file box access method for a closed-bin file storage device according to claim 1, characterized in that: The conflict determination strategy of step 4 also includes: Robot A is behind robot B. If the final X-axis position of robot A -iMinSpaceX is greater than or equal to the actual position of robot B, then there is no need to avoid, otherwise it is necessary to avoid.

3. The dual-manipulator file box access method for a closed-bin file storage device according to claim 2, characterized in that: The avoidance action instruction strategy in step 5 also includes: When robot A is at the rear end of robot B, if the X value of robot A at the final position of the X axis is greater than: R_Limit_Min+iMinSpaceX, then the X value of robot B = MIN (the final X value of robot A, R_Limit_Max) - iMinSpaceX, and the Y value of robot B remains unchanged, where R_Limit_Min represents the minimum rotatable X value of the robot; otherwise, the X value of robot B = MAX (the final X value of robot A on the X axis + iMinSpaceX, R_Limit_Min+iMinSpaceX, the current X value of robot B), that is, the maximum value is taken, and the Y value of robot B needs to be changed when it crosses forward and backward.

4. The method for accessing file boxes with dual manipulators applied to a closed-bin file storage device according to claim 3 is characterized in that: According to the action instruction strategy, when the Y value needs to cross forward and backward: If the Y target position of robot A is greater than the maximum Y value of robot B - iMinSpaceY, robot B can only avoid from below, then the Y value of robot B = MIN (Y target value of robot A - iinSpaceY, current Y value of robot B); When the Y value of the target position of robot A is less than the minimum Y value of robot B + iMinSpaceY, robot B can only avoid from above, then the Y value of robot B = MAX (Y target value of robot A + iMinSpaceX, current Y value of robot B); When the Y value of the Y target position of robot A is greater than the Y value of the current position of robot B, robot B avoids from the bottom, then the Y value of robot B = MIN (Y target value of robot A - iMinSpaceY, current Y value of robot B); or robot B avoids from the top, then the Y value of robot B = MAX (Y target value of robot A + iMinSpaceY, current Y value of robot B).

5. The dual-manipulator file box access method for a closed-bin file storage device according to claim 1, characterized in that: The action instructions in step 2 also include: Initialization instruction, that is, the C axis of robot A opens first, the Z axis returns to zero, and then the C axis returns to zero. After the X axis moves to a safe position, the R axis returns to zero.

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