Unloading operation exception handling method

Abstract

The invention provides an unloading operation exception handling method, which is applied to an unloading operation control system, and comprises the following steps: 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 as to enable the second robot to move to an unloading initial position in an operation space; information, fed back by the second robot, whether the interior of the working space is abnormal or not is received, and if not, a telescopic conveyor or a telescopic roller conveying line is started; and if abnormity exists, after corresponding processing is carried out according to the abnormity type, an unloading task is sent to the second robot, and a stacking task is sent to the first robot. Therefore, abnormity occurring in the unloading process can be handled in time, it is guaranteed that unloading operation is carried out smoothly, the flexibility is high, the limitation of the arm extension length of the robot and the operation range of a mechanical arm is broken through, unstacking and stacking of goods in a narrow space are achieved, 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 method for handling abnormalities in unloading operations.

[0005] In a first aspect, an embodiment of the present application provides a method for handling abnormalities in an unloading operation, which is applied to an unloading 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 the unloading operation, and the working space includes: a container, a carriage, a flatbed truck, a warehouse, a cabin, and an engine room; including:

[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 palletizing 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 unloading position;

[0008] The remote control center receives information from the second robot about whether there is any abnormality inside the working space;

[0009] After receiving the arrival signal sent by the first robot and the arrival signal and no abnormality information sent by the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line;

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

[0011] The remote control center sends a palletizing task to the first robot, so that the first robot performs the palletizing task after receiving a grasping signal fed back from the telescopic conveyor or the telescopic roller conveyor line.

[0012] Optionally, after the second robot moves to the initial unloading position, abnormality detection is performed on the materials to be unloaded in the working space by a visual positioning system on the second robot, and / or abnormality detection is performed on the materials to be unloaded by a visual positioning system arranged inside the working space;

[0013] If there is no abnormality, the second robot feeds back information indicating that there is no abnormality to the remote control center;

[0014] If there is an abnormality, the second robot will feedback the abnormality type to the remote control center, and the abnormality type includes: falling parts, stack tilting, stack collapse, and the existence of obstacles;

[0015] The remote control center notifies corresponding staff to handle the problem according to the abnormality type, and / or controls the second robot to handle the problem.

[0016] Optionally, when a telescopic conveyor is used, the telescopic conveyor is located between the first robot and the second robot to transport the materials unloaded by the second robot to the operating range of the first robot;

[0017] 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.

[0018] Optionally, it also includes:

[0019] The remote control center receives feedback from the second robot on whether the robot has been emptied;

[0020] If the remote control center receives the emptying information, it stops the telescopic conveyor or telescopic roller conveyor line.

[0021] Optionally, it also includes:

[0022] The remote control center receives information from the first robot about whether the code is full;

[0023] If the remote control center receives the full palletizing information and receives the unempty palletizing information fed back by the second robot, it determines the full palletizing position and controls the first robot to continue the palletizing task at the unfull palletizing position;

[0024] If all the palletizing positions are fully stacked, the first robot is controlled to enter a waiting task state.

[0025] Optionally, it also includes:

[0026] The remote control center mobilizes the third robot to move the full pallet away from the palletizing position and replace the new pallet in the vacant palletizing position.

[0027] Optionally, the palletizing task means that the first robot loads the materials on the telescopic conveyor or the telescopic roller conveyor line onto the pallet according to a preset palletizing rule;

[0028] The unloading task means that the second robot grabs the materials in the working space according to the preset destacking rules and places them on the telescopic conveyor or the telescopic roller conveyor line.

[0029] Optionally include:

[0030] 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.

[0031] Optionally, it also includes:

[0032] 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;

[0033] 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;

[0034] 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.

[0035] In a second aspect, an embodiment of the present application provides an unloading job exception handling device, comprising: 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:

[0036] Execute the steps of the method for handling an abnormal uninstallation operation as described in any one of the first aspects.

[0037] 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 method for handling an exception of an uninstallation job as described in any one of the first aspects.

[0038] 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 unloading job exception handling method as in the first aspect.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] In this application, a first moving instruction is sent to the first robot through the remote control center, so that the first robot enters the waiting task state and moves to the stacking position; a second moving instruction is sent to the second robot, so that the second robot enters the waiting task state and moves to the unloading initial position; the remote control center receives the information of whether the working space is abnormal from the second robot; after receiving the arrival signal sent from the first robot, and the arrival signal and no abnormal information sent by the second robot, the telescopic conveyor or telescopic roller conveyor line is started; an unloading task is sent to the second robot, so that the second robot performs the unloading task after receiving the placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line; a stacking task is sent to the first robot, so that the first robot performs the stacking task after receiving the grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line. In this way, the robot can break through the arm span length of the robot itself and the limitation of the operating range of the robot arm, solve the unstacking and stacking of goods in a narrow space, replace manual labor, fully realize automation, and effectively improve the efficiency of loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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:

[0042] Figure 1 A schematic diagram of an unloading operation scenario provided in an embodiment of the present application;

[0043] Figure 2 A flowchart of a method for handling an abnormality in an unloading operation provided in an embodiment of the present application;

[0044] Figure 3 A flowchart of a method for handling an abnormality in an unloading operation provided by another embodiment of the present application;

[0045] Figure 4 A flowchart of a method for handling abnormal unloading operations provided by another embodiment of the present application;

[0046] Figure 5 is a schematic diagram of the stacking position structure of the first robot;

[0047] Figure 6A flowchart of a method for handling abnormal unloading operations provided in yet another embodiment of the present application;

[0048] Figure 7 A schematic diagram of signaling interaction of a method for handling abnormal offloading operations provided in an embodiment of the present application;

[0049] Figure 8 A schematic diagram of the structure of an abnormal unloading operation processing device provided in an embodiment of the present application;

[0050] Fig. 9 It is a schematic diagram of the structure of a computer-readable storage medium in an embodiment of the present invention. DETAILED DESCRIPTION

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] The embodiments of the present application provide a method, device, equipment and storage medium for marking the contour of a workpiece. 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 production line, a simple handling robot, etc., the embodiments of the present application are not limited thereto.

[0058] Figure 1 A schematic diagram of an unloading 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.

[0059] Exemplarily, the remote control center is used to send instructions to the first robot and the second robot to achieve the following tasks:

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] Exemplarily, the second robot is used to place the material to be unloaded on the telescopic conveyor or the telescopic roller conveyor line, so that the telescopic conveyor or the telescopic roller conveyor line transports the material to the working range of the first robot; wherein: the second robot is a mobile robot, and when performing loading operations, it determines the position of the working space according to its own visual positioning system and moves to the designated working space, and the working space includes: containers, carriages, flatbed trucks, warehouses, cabins, and engine rooms.

[0065] 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.

[0066] 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.

[0067] Figure 2 A flowchart of a method for handling an abnormal uninstallation operation provided by an embodiment of the present application is shown in FIG. Figure 2 As shown, the method in this embodiment may include the following steps:

[0068] Step S201: The remote control center sends a first movement instruction to a first robot.

[0069] 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 palletizing position. The first movement instruction may include palletizing position information and other indication information, such as palletizing rules, palletizing beats, etc.

[0070] Step S202: The remote control center sends a second movement instruction to the second robot.

[0071] 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 unloading position. The initial unloading position can be preset. For example, when unloading a container, the outermost position of the second robot in the container is used as the initial unloading position, and the destacking operation is performed from the outside to the inside of the container.

[0072] Step S203: The remote control center receives information from the second robot about whether there is any abnormality inside the working space.

[0073] In this embodiment, after the second robot moves to the initial unloading position, the visual positioning system on the second robot performs abnormal detection on the materials to be unloaded in the working space, and / or the visual positioning system arranged inside the working space performs abnormal detection on the materials to be unloaded; if there is no abnormality, the second robot feeds back no abnormality information to the remote control center; if there is an abnormality, the second robot feeds back the type of abnormality to the remote control center, and the abnormality types include: falling parts, stack tilt, stack collapse, and the existence of obstacles; the remote control center notifies the corresponding staff to handle it according to the type of abnormality, and / or controls the second robot to handle it.

[0074] For example, during the transportation of materials, since the working space can be a movable transportation equipment such as a container, a cabin, or a carriage, the materials inside are prone to falling, collapsing, tilting, and the like. Before unloading materials, it is necessary to mobilize the visual positioning system of the second robot to check for abnormalities inside the working space to see if there are any abnormalities such as falling parts, stack tilting, stack collapse, obstacles, etc. When an abnormal situation occurs, there are two ways to deal with it: 1) The visual system of the second robot feeds back the abnormal type to the remote control center, and then the remote control center handles it according to the abnormal type. For example, when a piece falls, the on-site dispatcher can be notified to handle the falling piece (place it in an area that the second robot can grab, or directly place the material on the transmission mechanism); 2) The second robot directly handles the abnormal situation, for example, when the stack tilts, the stack can be restored / trimmed by controlling the robotic arm.

[0075] Step S204: After receiving the arrival signal from the first robot and the arrival signal and no abnormality information from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0076] In this embodiment, the remote control center receives the arrival signal sent by the first robot and the arrival signal and no abnormality information 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.

[0077] 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 second robot to the operating range of the first 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.

[0078] Step S205: The remote control center sends an unloading task to the second robot.

[0079] In this embodiment, the remote control center sends an unloading task to the second robot, so that the second robot performs the unloading task after receiving a placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line. The unloading task means that the second robot grabs the materials at at least one destacking position (such as the stacked materials in the container) according to the preset destacking rules and places them on the telescopic conveyor or the telescopic roller conveyor line.

[0080] Step S206: The remote control center sends a palletizing task to the first robot.

[0081] In this embodiment, the remote control center sends a palletizing task to the first robot, so that the first robot performs the palletizing task after receiving a grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line. The palletizing task means that the first robot loads the materials on the telescopic conveyor or the telescopic roller conveyor line onto a pallet or other transport device according to a preset palletizing rule.

[0082] This embodiment is applied to an unloading 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 conveying 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 conveying 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.

[0083] In this embodiment, the remote control center sends a first moving instruction to the first robot so that the first robot enters a waiting task state and moves to the stacking position; sends a second moving instruction to the second robot so that the second robot enters a waiting task state and moves to the initial unloading position; the remote control center receives information from the second robot whether there is an abnormality in the working space; after receiving the arrival signal sent by the first robot and the arrival signal and no abnormality information sent by the second robot, the telescopic conveyor or telescopic roller conveyor line is started; an unloading task is sent to the second robot so that the second robot performs the unloading task after receiving the placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line; and a stacking task is sent to the first robot so that the first robot performs the stacking task after receiving the grabbing signal fed back from the telescopic conveyor or the telescopic roller conveyor line. In this way, the robot can break through the arm span length of the robot itself and the limitation of the operating range of the robot arm, solve the unstacking and stacking of goods in a narrow space, replace manual labor, fully realize automation, and effectively improve the loading efficiency. Furthermore, before or during the unloading operation, the visual positioning system of the second robot and / or the visual positioning system inside the working space can be used to detect abnormalities in the materials to be unloaded. If any abnormality is found, corresponding processing is performed in a timely manner to ensure the smooth progress of the unloading operation. It has high flexibility and can intelligently respond to a variety of different abnormal situations.

[0084] Figure 3 A flowchart of a method for handling an abnormal uninstallation operation provided by another embodiment of the present application is shown in FIG. Figure 3 As shown, the method in this embodiment may include:

[0085] Step S301: The remote control center sends a first movement instruction to a first robot.

[0086] Step S302: The remote control center sends a second movement instruction to the second robot.

[0087] Step S303: The remote control center receives information from the second robot about whether there is any abnormality inside the working space.

[0088] Step S304: After receiving the arrival signal from the first robot and the arrival signal and no abnormality information from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0089] Step S305: The remote control center sends an unloading task to the second robot.

[0090] Step S306: The remote control center sends a palletizing task to the first robot.

[0091] For specific implementation and technical effects of steps S301 to S306 in this embodiment, please refer to Figure 2 The relevant descriptions of steps S201 to S206 are not repeated here.

[0092] Step S307: The remote control center receives the information of whether the second robot has been emptied from feedback.

[0093] In this embodiment, when the second robot performs the unloading task, it collects the unloading scene image through its own visual system, and determines whether it is empty based on the unloading scene image. If it is not empty, the information of not being empty is fed back to the remote control center, so that the remote control center controls the second robot to continue to transport the disassembled materials to the operating range of the first robot (the range of the robotic arm grasping) through the telescopic conveyor or the telescopic roller conveyor line.

[0094] Step S308: If the remote control center receives the emptying information, the telescopic conveyor or the telescopic roller conveyor line is stopped.

[0095] In this embodiment, when the second robot captures the unloading scene image through its own visual system and determines that the unloading has been completed based on the unloading scene image, it sends the unloading information to the remote control center so that the remote control center stops the telescopic conveyor or telescopic roller conveyor line, thereby avoiding the idling of the telescopic conveyor or telescopic roller conveyor line.

[0096] In this embodiment, the remote control center controls the sending of the unloading task and whether to stop the telescopic conveyor or the telescopic roller conveyor line through the information feedback from the second robot on whether the unloading task is emptied, so as to ensure the normal operation of the unloading operation.

[0097] Figure 4 A flowchart of a method for handling an abnormal uninstallation operation provided by another embodiment of the present application is shown in FIG. Figure 4 As shown, the method in this embodiment may include:

[0098] Step S401: The remote control center sends a first movement instruction to a first robot.

[0099] Step S402: The remote control center sends a second movement instruction to the second robot.

[0100] Step S403: The remote control center receives information from the second robot about whether there is any abnormality inside the working space.

[0101] Step S404: After receiving the arrival signal from the first robot and the arrival signal and no abnormality information from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0102] Step S405: The remote control center sends an unloading task to the second robot.

[0103] Step S406: The remote control center sends a palletizing task to the first robot.

[0104] For specific implementation and technical effects of steps S401 to S406 in this embodiment, please refer to Figure 2 The relevant descriptions of steps S201 to S206 are not repeated here.

[0105] Step S407: The remote control center receives information from the first robot about whether the code is full.

[0106] In this embodiment, the first robot's own visual system or a visual system arranged around the first robot can collect images of the pallet position, and determine whether the corresponding pallet position is full through the collected images. The first robot feeds back information on whether the pallet is full to the remote control center.

[0107] Step S408: If the remote control center receives the full palletizing information and receives the non-empty palletizing information fed back by the second robot, it determines the full palletizing position and controls the first robot to continue the palletizing task at the unfull palletizing position.

[0108] Figure 5 is a schematic diagram of the stacking position structure of the first robot, such as Figure 5 As shown, two or more palletizing positions can be set around the first robot. When there are two or more palletizing positions, the first palletizing position, the second palletizing position, and the third palletizing position can be depalletized in sequence. When the first palletizing position is full, the full palletizing information is fed back to the remote control center. The remote control center controls the first robot to continue palletizing from the second palletizing position, and so on.

[0109] Exemplarily, the remote control center can also control other robots to transfer full pallets and replace empty pallets.

[0110] Step S409: If all the palletizing positions are fully stacked, the first robot is controlled to enter a task waiting state.

[0111] In this embodiment, if all the pallets (palletizing positions) around the first robot are fully palletized, the first robot is first controlled to enter a task waiting state.

[0112] In this embodiment, the remote control center receives the information of whether the pallet is full from the first robot; if the remote control center receives the information of full pallet and the information of not empty pallet from the second robot, it determines the full palletizing position and controls the first robot to continue to perform the palletizing task at the unfull palletizing position; if all palletizing positions are full, it controls the first robot to enter the waiting task state. In this way, the first robot can be flexibly scheduled for palletizing to ensure the smooth progress of the palletizing task.

[0113] Figure 6 A flowchart of a method for handling an abnormal uninstallation operation provided by another embodiment of the present application is shown in FIG. Figure 6 As shown, the method in this embodiment may include:

[0114] Step S601: The remote control center sends a first movement instruction to a first robot.

[0115] Step S602: The remote control center sends a second movement instruction to the second robot.

[0116] Step S603: The remote control center receives information from the second robot about whether there is any abnormality inside the working space.

[0117] Step S604: After receiving the arrival signal from the first robot and the arrival signal and no abnormality information from the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line.

[0118] Step S605: The remote control center sends an unloading task to the second robot.

[0119] Step S606: The remote control center sends a palletizing task to the first robot.

[0120] For specific implementation and technical effects of steps S601 to S606 in this embodiment, please refer to Figure 2 The relevant descriptions of steps S201 to S206 are not repeated here.

[0121] Step S607: 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.

[0122] In this embodiment, when the spatial position inside the working space changes due to the stacking of materials, and when the spatial position inside the working space changes due to the unloading of materials, the remote control center sends a third movement instruction to the second robot so that the second robot can adjust its position inside the working space according to the change in spatial position.

[0123] In an optional embodiment, the second robot can also actively adjust its position within the working space according to changes in the spatial position.

[0124] For example, at the beginning, the second robot is positioned in a smaller depth of the working space. As the unloading operation is performed, more and more materials are unloaded in the working space. At this time, the second robot can adaptively move toward the part of the working space according to the on-site unloading situation, thereby realizing flexible destacking of the robot inside the working space, improving unloading efficiency, and greatly reducing the requirements for the robot's own arm span and operating range.

[0125] Figure 7 A signaling interaction diagram of the method for handling abnormal uninstallation operations 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:

[0126] Step S1: The remote control center sends a first movement instruction to the first robot.

[0127] Step S2: The remote control center sends a second movement instruction to the second robot.

[0128] Step S3: After the first robot moves to the stacking position according to the first movement instruction, it feeds back a position arrival signal to the remote control center.

[0129] Step S4: the second robot moves to the initial unloading position according to the second movement instruction.

[0130] Step S5: Perform anomaly detection. If no anomaly exists, execute step S6; if an anomaly exists, execute step S7.

[0131] Step S6: Feedback the arrival signal and no abnormality information to the remote control center, and execute step S8.

[0132] Step S7: Feedback the abnormality type to the remote control center, wait for a preset time, and then return to step S5.

[0133] Step S8: The remote control center sends a start command to the telescopic conveyor / telescopic roller conveyor line.

[0134] Step S9: The remote control center sends an unloading task to the second robot.

[0135] Step S10: The remote control center sends a palletizing task to the first robot.

[0136] Step S11: The telescopic conveyor / telescopic roller conveyor line sends a placement signal to the second robot.

[0137] Step S12: The telescopic conveyor / telescopic roller conveyor line sends a grabbing signal to the first robot.

[0138] Step S13: The second robot performs the unloading task.

[0139] Step S14: The first robot performs the palletizing task.

[0140] Step S15: The remote control center sends a third movement instruction to the second robot.

[0141] In this embodiment, the second robot adjusts its position inside the working space according to the third movement instruction.

[0142] Step S16: The second robot feeds back information on whether the robot has been emptied to the remote control center.

[0143] Step S17: The first robot feeds back information on whether the code is full to the remote control center.

[0144] Step S18: If all the palletizing positions are fully stacked, the remote control center sends a waiting state instruction to the first robot, so that the first robot enters the waiting state.

[0145] Step S19: If the emptying information fed back by the second robot is received, the remote control center sends a stop command to the telescopic conveyor / telescopic roller conveyor line.

[0146] 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.

[0147] Figure 8 This is a schematic diagram of the structure of an unloading job exception processing device provided in an embodiment of the present application. The unloading job exception processing device 800 in this embodiment may include: a processor 801 and a memory 802.

[0148] 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.

[0149] 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 .

[0150] 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.

[0151] For details, please refer to the relevant description in the previous method embodiment.

[0152] 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 .

[0153] The unloading 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.

[0154] 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".

[0155] 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.

[0156] 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.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] 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.

[0162] 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).

[0163] 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.

[0164] 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 method for handling abnormalities in an unloading operation, characterized in that: Applicable to an unloading 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 unloading operations, and the inside of the operation space includes: a container, a carriage, a flatbed truck, a warehouse, a cabin, and an engine room; including: 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 palletizing 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 unloading position; The remote control center receives information from the second robot about whether there is any abnormality inside the working space; After receiving the arrival signal sent by the first robot and the arrival signal and no abnormality information sent by the second robot, the remote control center starts the telescopic conveyor or the telescopic roller conveyor line; The remote control center sends an unloading task to the second robot, so that the second robot performs the unloading task after receiving a placement signal fed back from the telescopic conveyor or the telescopic roller conveyor line; The remote control center sends a palletizing task to the first robot, so that the first robot performs the palletizing task after receiving a grasping signal fed back from the telescopic conveyor or the telescopic roller conveyor line.

2. The method for handling abnormal unloading operations according to claim 1, characterized in that: After the second robot moves to the initial unloading position, abnormality detection is performed on the materials to be unloaded in the working space by a visual positioning system on the second robot, and / or abnormality detection is performed on the materials to be unloaded by a visual positioning system arranged inside the working space; If there is no abnormality, the second robot feeds back information indicating that there is no abnormality to the remote control center; If there is an abnormality, the second robot will feedback the abnormality type to the remote control center, and the abnormality type includes: falling parts, stack tilting, stack collapse, and the existence of obstacles; The remote control center notifies corresponding staff to handle the problem according to the abnormality type, and / or controls the second robot to handle the problem.

3. The method for handling abnormal unloading operations 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 unloaded by the second robot to the operating range of the first 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.

4. The method for handling abnormal unloading operations according to claim 1, characterized in that: Also includes: The remote control center receives feedback from the second robot on whether the robot has been emptied; If the remote control center receives the emptying information, it stops the telescopic conveyor or telescopic roller conveyor line.

5. The method for handling abnormal unloading operations according to claim 1, characterized in that: Also includes: The remote control center receives information from the first robot about whether the code is full; If the remote control center receives the full palletizing information and receives the unempty palletizing information fed back by the second robot, it determines the full palletizing position and controls the first robot to continue the palletizing task at the unfull palletizing position; If all the palletizing positions are fully stacked, the first robot is controlled to enter a waiting task state.

6. The method for handling abnormal unloading operations according to claim 5, characterized in that: Also includes: The remote control center mobilizes the third robot to move the full pallet away from the palletizing position and replace the new pallet in the vacant palletizing position.

7. The method for handling abnormal unloading operations according to any one of claims 1 to 6, characterized in that: The palletizing task means that the first robot loads the materials on the telescopic conveyor or the telescopic roller conveyor line onto the pallet according to the preset palletizing rules; The unloading task means that the second robot grabs the materials in the working space according to the preset destacking rules and places them on the telescopic conveyor or the telescopic roller conveyor line.

8. The method for handling abnormal unloading operations according to any one of claims 1 to 6, characterized in that: include: 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 method for handling abnormal unloading operations according to any one of claims 1 to 6, 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. An abnormal handling device for unloading operation, characterized in that: 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 method for handling abnormal unloading operations as described in any one of claims 1 to 9.

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