Loading work control method

Abstract

The invention provides a loading operation control method, which is applied to a loading operation control system, and comprises the following steps of: respectively sending a first moving instruction and a second moving instruction to a first robot and a second robot through a remote control center, so that the second robot is positioned in a specified operation space when executing loading operation; a telescopic conveyor or a telescopic roller conveying line is started, and an unstacking task is sent to the first robot; the first robot executes an unstacking task after receiving a placement signal fed back by the telescopic conveyor or the telescopic roller conveyor line; and a loading task is sent to a second robot, and the second robot executes the loading task after receiving a grabbing signal fed back by the telescopic conveyor or the telescopic roller conveying line. Therefore, the limitation of the arm extension length of the robot and the operation range of a mechanical arm can be broken through, the problem of unstacking and stacking of goods in a narrow space is solved, manual labor is replaced, automation is completely achieved, and the loading efficiency is effectively improved.

Description

Background Art

[0002] With the popularization of robot technology and the continuous development of manufacturing robots, existing robots have been able to adapt to various application scenarios. Especially in scenarios such as intelligent picking, logistics transportation, and warehouse management, palletizing robots are gradually being used to replace workers' high-intensity labor.

[0003] Existing palletizing robots have complex structures and poor flexibility. Due to the limited arm span and the range of the robot's arm, they perform poorly in material loading scenarios such as ports and large storage centers, and are difficult to adapt to the task of palletizing goods in narrow spaces. Summary of the invention

[0004] In view of the defects in the prior art, an object of the present invention is to provide a loading operation control method.

[0005] In a first aspect, an embodiment of the present application provides a loading operation control method, which is applied to a loading operation control system including a first robot, a telescopic conveyor or a telescopic roller conveyor line, a second robot, and a remote control center, wherein the first robot is located outside a designated working space, and the second robot is located inside the designated working space when performing a loading operation, and the working space includes: a container, a carriage, a flatbed truck, a warehouse, a cabin, and an engine room; the method includes:

[0006] The remote control center sends a first movement instruction to the first robot, so that the first robot enters a waiting task state and moves to a depalletizing position;

[0007] The remote control center sends a second movement instruction to the second robot, so that the second robot enters a waiting task state and moves to an initial loading position;

[0008] After receiving the arrival signal sent by the first robot and the arrival signal sent by the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line;

[0009] The remote control center sends a depalletizing task to the first robot, so that the first robot performs the depalletizing task after receiving a placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line;

[0010] The remote control center sends a loading task to the second robot, so that the second robot performs the loading task after receiving a grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line.

[0011] Optionally, when a telescopic conveyor is used, the telescopic conveyor is located between the first robot and the second robot to transport the materials removed by the first robot to the operating range of the second robot; when a telescopic roller conveyor line is used, one end of the telescopic roller conveyor line is pre-connected to the control console of the second robot.

[0012] Optionally, it also includes:

[0013] The remote control center receives information from the second robot about whether the code is full;

[0014] If the remote control center receives the code full information, it stops the telescopic conveyor or telescopic roller conveyor line.

[0015] Optionally, it also includes:

[0016] The remote control center receives the information of whether the first robot is emptied from feedback;

[0017] If the remote control center receives the empty depalletizing information and the unfull stacking information fed back by the second robot, it determines the empty depalletizing position and controls the first robot to continue to perform the depalletizing task from the unempty depalletizing position;

[0018] If all the depalletizing positions are empty, the first robot is controlled to enter a waiting task state.

[0019] Optionally, it also includes:

[0020] The remote control center controls the first robot to perform a replenishment task on the emptied depalletizing position; wherein the replenishment task and the depalletizing task are executed synchronously.

[0021] Optionally, the depalletizing task means that the first robot grabs the material at at least one depalletizing position according to a preset depalletizing rule and places the material on a telescopic conveyor or a telescopic roller conveyor line.

[0022] Optionally, the loading task means that the second robot loads the materials on the telescopic conveyor or the telescopic roller conveyor line into a designated working space according to a preset stacking rule.

[0023] Optionally, it also includes:

[0024] When the spatial position of the material in the working space changes due to the stacking of the material, the remote control center sends a third movement instruction to the second robot so that the second robot can adjust its position in the working space according to the change in the spatial position.

[0025] Optionally, it also includes:

[0026] The remote control center receives the material product information uploaded by the code scanning agency and / or the quality inspection information uploaded by the quality inspection agency;

[0027] The code scanning mechanism is arranged on the conveying path of the telescopic conveyor or the telescopic roller conveyor line, and is used to read the identification code on the material to determine the material product information according to the identification code;

[0028] The quality inspection mechanism is arranged on the conveying path of the telescopic conveyor or the telescopic roller conveyor line, and is used to obtain the image of the material to obtain quality inspection information based on the image of the material.

[0029] In a second aspect, an embodiment of the present application provides a loading operation control device, including: a processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to:

[0030] Execute the steps of the loading operation control method as described in any one of the first aspects.

[0031] In a third aspect, an embodiment of the present application provides a computer-readable storage medium for storing a program, which, when executed, implements the steps of the loading operation control method as described in any one of the first aspects.

[0032] In a fourth aspect, an embodiment of the present application provides a program product, which includes a computer program, wherein the computer program is stored in a readable storage medium, and at least one processor of a robot can read the computer program from the readable storage medium, and the at least one processor executes the computer program so that the robot implements the loading operation control method as in the first aspect.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] In this application, a first moving instruction is sent to the first robot through a remote control center, so that the first robot enters a waiting task state and moves to a destacking position; a second moving instruction is sent to the second robot, so that the second robot enters a waiting task state and moves to an initial loading position; after receiving an in-place signal sent from the first robot and an in-place signal sent from the second robot, a telescopic conveyor or a telescopic roller conveyor line is started; then a destacking task is sent to the first robot, so that the first robot performs the destacking task after receiving a placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line; finally, a loading task is sent to the second robot, so that the second robot performs the loading task after receiving a grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line. In this way, the robot's own arm span length and the limitations of the robot's operating range can be broken through, the destacking of goods in a narrow space can be solved, manual labor can be replaced, and full automation can be achieved, effectively improving the efficiency of loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0036] Figure 1 A schematic diagram of a loading operation scenario provided in an embodiment of the present application;

[0037] Figure 2 A schematic diagram of a flow chart of a loading operation control method provided in an embodiment of the present application;

[0038] Figure 3 A schematic flow chart of a loading operation control method provided in another embodiment of the present application;

[0039] Figure 4 A schematic flow chart of a loading operation control method provided in yet another embodiment of the present application;

[0040] Figure 5 is a schematic diagram of the depalletizing position structure of the first robot;

[0041] Figure 6 A schematic flow chart of a loading operation control method provided in yet another embodiment of the present application;

[0042] Figure 7A schematic diagram of signaling interaction of a loading operation control method provided in an embodiment of the present application;

[0043] Figure 8 A schematic diagram of the structure of a loading operation control device provided in one embodiment of the present application;

[0044] Fig. 9 Schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0048] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0049] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0050] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0051] The embodiments of the present application provide a loading operation control method. The following description of the present application uses a robot as an example. It will be apparent to those skilled in the art that other types of robots can be used without restriction, and the embodiments of the present application can be applied to various types of robots. For example, a movable logistics robot, a robot on a large-scale operation assembly line, a simple handling robot, etc., and the embodiments of the present application are not limited thereto.

[0052] Figure 1 A schematic diagram of a loading operation scenario provided in an embodiment of the present application, such as Figure 1 As shown, the application scenario includes: a first robot, a second robot, a remote control center, and a telescopic conveyor or a telescopic roller conveyor line; wherein the telescopic conveyor or the telescopic roller conveyor line is located between the first robot and the second robot to realize material transportation between the first robot and the second robot. The remote control center can establish communication with the first robot, the second robot, and the telescopic conveyor or the telescopic roller conveyor line through a wireless network and / or a wired network to send instructions to any one or more of the first robot, the second robot, and the telescopic conveyor or the telescopic roller conveyor line.

[0053] Exemplarily, the remote control center is used to send instructions to the first robot and the second robot to achieve the following tasks:

[0054] 1) Control the first robot to move to one side of the telescopic conveyor, perform grabbing and / or placing tasks, and control the grabbing and / or placing speed.

[0055] 2) Control the second robot to move into the designated working space, perform the grasping and / or placing tasks, and control the grasping and / or placing speed.

[0056] Exemplarily, when a telescopic conveyor is used as a transport mechanism, the telescopic conveyor can also be remotely controlled by a remote control center, for example, the telescopic conveyor can be controlled by the remote control center to adjust its length and / or height.

[0057] In this embodiment, the remote control center can control multiple robots and telescopic conveyors at the same time. For example, in a large port scenario, the remote control center can schedule multiple robots and telescopic conveyors, so that the first robot and the second robot can reach the specified workstation and determine the height and length of the telescopic conveyor.

[0058] Exemplarily, the first robot is used to place the material to be loaded on a telescopic conveyor or a telescopic roller conveyor line, so that the telescopic conveyor or the telescopic roller conveyor line transports the material to the working range of the second robot; wherein: the second robot is a mobile robot, which determines the position of the working space according to its own visual positioning system when performing loading operations, and moves to the designated working space, which includes: containers, carriages, flatbed trucks, warehouses, cabins, and engine rooms.

[0059] For example, the interior of the working space described in the present application is not limited to a container, a carriage, a flatbed truck, a warehouse, a cabin, or an engine room, but refers to a general space that is distinguished from a vast space.

[0060] In this embodiment, since the container, carriage, flatbed truck, etc. are movable, it is not possible to ensure that the position is completely consistent when parking, and there is a certain deviation. In view of this situation, the visual positioning system installed on the second robot itself can be used to precisely position the container, carriage, flatbed truck, etc., so that the second robot can smoothly move into these spaces.

[0061] Figure 2 A flow chart of a loading operation control method provided in an embodiment of the present application is shown as follows: Figure 2 As shown, the method in this embodiment may include the following steps:

[0062] Step S201: The remote control center sends a first movement instruction to a first robot.

[0063] In this embodiment, after establishing communication with the first robot, the remote control center actively sends a first movement instruction to the first robot. The first robot enters a waiting task state according to the first movement instruction and moves to the depalletizing position. The first movement instruction may include depalletizing position information and other indication information, such as depalletizing rules, depalletizing rhythm, etc.

[0064] Step S202: The remote control center sends a second movement instruction to the second robot.

[0065] In this embodiment, after establishing communication with the second robot, the remote control center actively sends a second movement instruction to the second robot. The second robot enters a waiting task state according to the second movement instruction and moves to the initial loading position. The initial loading position can be preset. For example, when loading a container, the innermost position of the second robot in the container is used as the initial loading position, and the stacking operation is performed from the inside to the outside of the container.

[0066] Step S203: After receiving the arrival signal from the first robot and the arrival signal from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0067] In this embodiment, the remote control center receives the arrival signal sent by the first robot and the arrival signal sent by the second robot respectively. If both signals are received, it means that the first robot and the second robot are already in place, and the telescopic conveyor or telescopic roller conveyor line can be started at this time.

[0068] Exemplarily, when a telescopic conveyor is used, the telescopic conveyor is located between the first robot and the second robot to transport the materials removed by the first robot to the operating range of the second robot; when a telescopic roller conveyor line is used, one end of the telescopic roller conveyor line is pre-connected to the control console of the second robot.

[0069] Step S204: The remote control center sends a depalletizing task to the first robot.

[0070] In this embodiment, the remote control center sends a depalletizing task to the first robot, so that the first robot performs the depalletizing task after receiving a placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line. The depalletizing task means that the first robot grabs the material at at least one depalletizing position according to a preset depalletizing rule and places it on the telescopic conveyor or the telescopic roller conveyor line.

[0071] Step S205: The remote control center sends a loading task to the second robot.

[0072] In this embodiment, the remote control center sends a loading task to the second robot, so that the second robot performs the loading task after receiving a grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line. The loading task means that the second robot loads the materials on the telescopic conveyor or the telescopic roller conveyor line into the designated working space according to the preset stacking rules.

[0073] This embodiment is applied to a loading operation control system including a first robot, a telescopic conveyor or a telescopic roller conveyor line, a second robot, and a remote control center. When a code scanning mechanism is provided on the transmission path of the telescopic conveyor or the telescopic roller conveyor line, the identification code on the material is read by the code scanning mechanism to determine the material product information according to the identification code. When a quality inspection mechanism is provided on the transmission path of the telescopic conveyor or the telescopic roller conveyor line, an image of the material is obtained by the quality inspection mechanism to obtain quality inspection information according to the image of the material.

[0074] In this embodiment, a first moving instruction is sent to the first robot through the remote control center, so that the first robot enters a waiting task state and moves to the depalletizing position; a second moving instruction is sent to the second robot, so that the second robot enters a waiting task state and moves to the initial loading position; after receiving the arrival signal sent by the first robot and the arrival signal sent by the second robot, the telescopic conveyor or telescopic roller conveyor line is started; then a depalletizing task is sent to the first robot, so that the first robot performs the depalletizing task after receiving the placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line; finally, a loading task is sent to the second robot, so that the second robot performs the loading task after receiving the grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line. In this way, the robot's own arm span length and the limitation of the robot's operating range can be broken through, the depalletizing of goods in a narrow space can be solved, manual labor can be replaced, and full automation can be achieved, which effectively improves the loading efficiency.

[0075] Figure 3 A flow chart of a loading operation control method provided by another embodiment of the present application is shown as follows: Figure 3 As shown, the method in this embodiment may include:

[0076] Step S301: The remote control center sends a first movement instruction to a first robot.

[0077] Step S302: The remote control center sends a second movement instruction to the second robot.

[0078] Step S303: After receiving the arrival signal from the first robot and the arrival signal from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0079] Step S304: The remote control center sends a depalletizing task to the first robot.

[0080] Step S305: The remote control center sends a loading task to the second robot.

[0081] For the specific implementation and technical effects of steps S301 to S305 in this embodiment, please refer to Figure 2 The relevant descriptions of steps S201 to S205 are not repeated here.

[0082] Step S306: The remote control center receives information from the second robot about whether the code is full.

[0083] In this embodiment, when the second robot performs the loading task, it collects the stacking scene image through its own visual system, and determines whether the stack is full based on the stacking scene image. If not, the information of not being full is fed back to the remote control center, so that the remote control center controls the first robot to continue to transport the disassembled materials to the operating range of the second robot (the range of the robotic arm grasping) through the telescopic conveyor or the telescopic roller conveyor line.

[0084] Step S307: If the remote control center receives the code full information, the telescopic conveyor or the telescopic roller conveyor line is stopped.

[0085] In this embodiment, when the second robot captures the palletizing scene image through its own vision system and determines that the palletizing is full based on the palletizing scene image, it sends the palletizing full information to the remote control center so that the remote control center stops the telescopic conveyor or telescopic roller conveyor line, thereby avoiding continuously transporting materials to the operating range of the second robot, causing material backlog or falling.

[0086] In this embodiment, the remote control center controls the dispatching of loading tasks and whether to stop the telescopic conveyor or the telescopic roller conveyor line through the information of whether the code is full fed back by the second robot to ensure the normal operation of the loading operation.

[0087] Figure 4 A flow chart of a loading operation control method provided in another embodiment of the present application is as follows: Figure 4 As shown, the method in this embodiment may include:

[0088] Step S401: The remote control center sends a first movement instruction to a first robot.

[0089] Step S402: The remote control center sends a second movement instruction to the second robot.

[0090] Step S403: After receiving the arrival signal from the first robot and the arrival signal from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0091] Step S404: The remote control center sends a depalletizing task to the first robot.

[0092] Step S405: The remote control center sends a loading task to the second robot.

[0093] For the specific implementation and technical effects of steps S401 to S405 in this embodiment, please refer to Figure 2 The relevant descriptions of steps S201 to S205 are not repeated here.

[0094] Step S406: The remote control center receives the information of whether the first robot has been emptied from feedback.

[0095] In this embodiment, the visual system of the first robot itself or the visual system arranged around the first robot can collect images of the depalletizing position, and judge whether the corresponding depalletizing position is empty through the collected images. The first robot feeds back the information of whether the depalletizing position is empty to the remote control center.

[0096] Step S407: If the remote control center receives the empty information and the not full information fed back by the second robot, it determines the empty depalletizing position and controls the first robot to continue to perform the depalletizing task from the unemptied depalletizing position.

[0097] Figure 5 is a schematic diagram of the depalletizing position structure of the first robot, such as Figure 5 As shown, two or more destacking positions can be set around the first robot. When there are two or more destacking positions, the first destacking position, the second destacking position, and the third destacking position can be destacking in sequence. When the first destacking position is emptied, the emptying information is fed back to the remote control center. The remote control center controls the first robot to continue destacking from the second destacking position, and so on.

[0098] Exemplarily, the remote control center may also control the first robot to perform a replenishment task on the emptied depalletizing position; wherein the replenishment task and the depalletizing task are performed simultaneously. Figure 5 , assuming that the first depalletizing position is empty, the first robot can also simultaneously replenish the first depalletizing position while performing depalletizing operations on the second depalletizing position. Replenishment refers to moving materials from other mobile robots, forklifts, or conveyor belts to the first depalletizing position.

[0099] Step S408: If all the depalletizing positions are empty, control the first robot to enter a waiting task state.

[0100] In this embodiment, assuming that all depalletizing positions are emptied, each depalletizing position needs to be replenished, and replenishment takes time, so the first robot is first controlled to enter a waiting task state.

[0101] In this embodiment, by receiving the empty depalletizing information fed back by the first robot, when receiving the unfull stacking information fed back by the second robot, the empty depalletizing position is determined, and the first robot is controlled to continue to perform the depalletizing task from the unempty depalletizing position; if all depalletizing positions are empty, the first robot is controlled to enter the waiting task state. In this way, the first robot can be flexibly scheduled for depalletizing and replenishment can be carried out in time.

[0102] Figure 6 A flow chart of a loading operation control method provided in yet another embodiment of the present application is shown as follows: Figure 6 As shown, the method in this embodiment may include:

[0103] Step S601: The remote control center sends a first movement instruction to a first robot.

[0104] Step S602: The remote control center sends a second movement instruction to the second robot.

[0105] Step S603: After receiving the arrival signal from the first robot and the arrival signal from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0106] Step S604: The remote control center sends a depalletizing task to the first robot.

[0107] Step S605: The remote control center sends a loading task to the second robot.

[0108] For the specific implementation and technical effects of steps S601 to S605 in this embodiment, please refer to Figure 2 The relevant descriptions of steps S201 to S205 are not repeated here.

[0109] Step S606: When the spatial position of the materials in the working space changes due to the stacking, the remote control center sends a third movement instruction to the second robot.

[0110] In this embodiment, when the spatial position of the working space changes due to the stacking of materials, the remote control center sends a third movement instruction to the second robot so that the second robot can adjust its position within the working space according to the change in spatial position.

[0111] In an optional embodiment, the second robot can also actively adjust its position inside the working space according to changes in the spatial position.

[0112] For example, at the beginning, the second robot is positioned at a deeper place inside the working space. As the loading operation is carried out, more and more materials are stacked in the working space. At this time, the second robot can adaptively retreat from the inside of the working space according to the on-site stacking situation, thereby realizing flexible stacking of the robot inside the working space, improving loading efficiency, and greatly reducing the requirements for the robot's own arm span and operating range.

[0113] Figure 7 A signaling interaction diagram of a loading operation control method provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the method in this embodiment may include the following steps:

[0114] Step S1: The remote control center sends a first movement instruction to the first robot.

[0115] Step S2: The remote control center sends a second movement instruction to the second robot.

[0116] Step S3: After the first robot moves to the depalletizing position according to the first moving instruction, it feeds back a reaching position signal to the remote control center.

[0117] Step S4: After the second robot moves to the initial loading position according to the second movement instruction, it feeds back a signal of arrival to the remote control center.

[0118] Step S5: The remote control center sends a start command to the telescopic conveyor / telescopic roller conveyor line.

[0119] Step S6: The remote control center sends a depalletizing task to the first robot.

[0120] Step S7: The remote control center sends a loading task to the second robot.

[0121] Step S8: The telescopic conveyor / telescopic roller conveyor line sends a placement signal to the first robot.

[0122] Step S9: The telescopic conveyor / telescopic roller conveyor line sends a grabbing signal to the second robot.

[0123] Step S10: The first robot performs a depalletizing task.

[0124] Step S11: The second robot performs the loading task.

[0125] Step S12: The remote control center sends a third movement instruction to the second robot.

[0126] In this embodiment, the second robot adjusts its position inside the working space according to the third movement instruction.

[0127] Step S13: The second robot feeds back information on whether the code is full to the remote control center.

[0128] Step S14: The first robot feeds back information on whether the robot is emptied to the remote control center.

[0129] Step S15: If all the depalletizing positions are empty, the remote control center sends a waiting state instruction to the first robot, so that the first robot enters the waiting state.

[0130] Step S16: If the code full information is fed back by the second robot, the remote control center sends a stop command to the telescopic conveyor / telescopic roller conveyor line.

[0131] It should be noted that this embodiment does not limit the execution order of the above steps, and the order of steps can be adjusted according to actual conditions.

[0132] In this embodiment, a first moving instruction is sent to the first robot through the remote control center, so that the first robot enters a waiting task state and moves to the depalletizing position; a second moving instruction is sent to the second robot, so that the second robot enters a waiting task state and moves to the initial loading position; after receiving the arrival signal sent by the first robot and the arrival signal sent by the second robot, the telescopic conveyor or telescopic roller conveyor line is started; then a depalletizing task is sent to the first robot, so that the first robot performs the depalletizing task after receiving the placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line; finally, a loading task is sent to the second robot, so that the second robot performs the loading task after receiving the grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line. In this way, the robot's own arm span length and the limitation of the robot's operating range can be broken through, the depalletizing of goods in a narrow space can be solved, manual labor can be replaced, and full automation can be achieved, which effectively improves the loading efficiency.

[0133] Figure 8 This is a schematic diagram of the structure of a loading operation control device provided in an embodiment of the present application. The loading operation control device 800 in this embodiment may include: a processor 801 and a memory 802.

[0134] The memory 802 is used to store programs; the memory 802 may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory 802 is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories 802. And the above computer programs, computer instructions, data, etc. can be called by the processor 801.

[0135] The above-mentioned computer programs, computer instructions, etc. may be stored in partitions in one or more memories 802 . And the above-mentioned computer programs, computer instructions, data, etc. may be called by the processor 801 .

[0136] The processor 801 is used to execute the computer program stored in the memory 802 to implement each step of the method involved in the above embodiment.

[0137] For details, please refer to the relevant description in the previous method embodiment.

[0138] The processor 801 and the memory 802 may be independent structures or integrated structures. When the processor 801 and the memory 802 are independent structures, the memory 802 and the processor 801 may be coupled and connected via a bus 803 .

[0139] The loading operation control device 800 of this embodiment can execute Figures 2 to 7 For the technical solution in the method shown, its specific implementation process and technical principles can be found in Figures 2 to 7 The relevant descriptions in the method shown will not be repeated here.

[0140] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".

[0141] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of a user device executes the computer-executable instructions, the user device executes the above-mentioned various possible methods.

[0142] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.

[0143] The present application also provides a program product, which includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium. At least one processor executes the computer program so that the server implements any method of the above-mentioned embodiments of the present invention.

[0144] Those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.

[0145] Fig. 9 Schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. Fig. 9As shown, a program product 900 for implementing the above method according to an embodiment of the present invention is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0146] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0147] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0148] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0149] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0150] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A loading operation control method, characterized in that: Applicable to a loading operation control system including a first robot, a telescopic conveyor or a telescopic roller conveyor line, a second robot, and a remote control center, wherein the first robot is located outside a designated operation space, and the second robot is located inside the designated operation space when performing the loading operation, and the inside of the operation space includes: a container, a carriage, a flatbed truck, a warehouse, a cabin, and an engine room; the method includes: The remote control center sends a first movement instruction to the first robot, so that the first robot enters a waiting task state and moves to a depalletizing position; The remote control center sends a second movement instruction to the second robot, so that the second robot enters a waiting task state and moves to an initial loading position; After receiving the arrival signal sent by the first robot and the arrival signal sent by the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line; The remote control center sends a depalletizing task to the first robot, so that the first robot performs the depalletizing task after receiving a placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line; The remote control center sends a loading task to the second robot, so that the second robot performs the loading task after receiving a grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line.

2. The loading operation control method according to claim 1, characterized in that: When a telescopic conveyor is used, the telescopic conveyor is located between the first robot and the second robot to transport the materials removed by the first robot to the operating range of the second robot; when a telescopic roller conveyor line is used, one end of the telescopic roller conveyor line is pre-connected to the control console of the second robot.

3. The loading operation control method according to claim 1, characterized in that: Also includes: The remote control center receives information from the second robot about whether the code is full; If the remote control center receives the code full information, it stops the telescopic conveyor or telescopic roller conveyor line.

4. The loading operation control method according to claim 1, characterized in that: Also includes: The remote control center receives the information of whether the first robot is emptied from feedback; If the remote control center receives the empty depalletizing information and the unfull stacking information fed back by the second robot, it determines the empty depalletizing position and controls the first robot to continue to perform the depalletizing task from the unempty depalletizing position; If all the depalletizing positions are empty, the first robot is controlled to enter a waiting task state.

5. The loading operation control method according to claim 4, characterized in that: Also includes: The remote control center controls the first robot to perform a replenishment task on the emptied depalletizing position; wherein the replenishment task and the depalletizing task are executed synchronously.

6. The loading operation control method according to any one of claims 1 to 5, characterized in that: The depalletizing task means that the first robot grabs the material at at least one depalletizing position according to a preset depalletizing rule and places the material on a telescopic conveyor or a telescopic roller conveyor line.

7. The loading operation control method according to any one of claims 1 to 5, characterized in that: The loading task means that the second robot loads the materials on the telescopic conveyor or the telescopic roller conveyor line into the designated working space according to the preset stacking rules.

8. The loading operation control method according to any one of claims 1 to 5, characterized in that: Also includes: When the spatial position of the material in the working space changes due to the stacking of the material, the remote control center sends a third movement instruction to the second robot so that the second robot can adjust its position in the working space according to the change in the spatial position.

9. The loading operation control method according to any one of claims 1 to 5, characterized in that: Also includes: The remote control center receives the material product information uploaded by the code scanning agency and / or the quality inspection information uploaded by the quality inspection agency; The code scanning mechanism is arranged on the conveying path of the telescopic conveyor or the telescopic roller conveyor line, and is used to read the identification code on the material to determine the material product information according to the identification code; The quality inspection mechanism is arranged on the conveying path of the telescopic conveyor or the telescopic roller conveyor line, and is used to obtain the image of the material to obtain quality inspection information based on the image of the material.

10. A loading operation control device, characterized in that: include: A processor and a memory, wherein the memory stores executable program instructions, and when the processor calls the program instructions in the memory, the processor is used to: Execute the steps of the loading operation control method described in any one of claims 1 to 9.

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