Intelligent material handling equipment material handling path planning method and device

Abstract

This application provides a method and apparatus for planning the handling operation path of intelligent handling equipment. In response to a handling command, it determines a first horizontal position, a first vertical position, a second horizontal position, and a second vertical position; it estimates the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, as a first handling time; it determines the vertical position where the pick-and-place module, at its maximum vertical sliding speed, slides from the first vertical position along the target direction to the position after the first handling time, as a third vertical position; if the third vertical position is located in the target direction of the second vertical position, it controls the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously controls the pick-and-place module to slide from the first vertical position to the second vertical position. This saves time in the handling operation.

Description

Technical Field

[0001] This application relates to the field of warehousing technology, and in particular to a method and apparatus for planning handling operation paths for intelligent handling equipment. Background Technology

[0002] Currently, STU (Sky Transfer Unit) robots are commonly used to move items in warehouse environments. An STU robot includes a horizontal rail, a vertical rail mounted on the horizontal rail, and a pick-and-place module mounted on the vertical rail. The vertical rail can slide horizontally along the horizontal rail, and the pick-and-place module can slide vertically along the vertical rail. Both the horizontal and vertical rails are located near the shelves, allowing control of the horizontal sliding of the vertical rail and the vertical sliding of the pick-and-place module to align the module with a specific storage location on the shelf in both the horizontal and vertical directions, thereby retrieving or placing items from that location.

[0003] In existing technologies, STU handling efficiency is relatively low. Summary of the Invention

[0004] The purpose of this application is to provide a method and apparatus for planning the handling operation path of intelligent handling equipment to improve handling efficiency. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a method for planning the handling operation path of an intelligent handling device. The intelligent handling device includes a horizontal slide rail, a vertical slide rail, and a pick-and-place module. The vertical slide rail is disposed on the horizontal slide rail and is used to slide horizontally along the horizontal slide rail. The pick-and-place module is disposed on the vertical slide rail and is used to slide vertically along the vertical slide rail.

[0006] The method includes:

[0007] In response to a transport command, the first horizontal position of the vertical slide rail, the first vertical position of the pick-and-place module, and the second horizontal and second vertical positions indicated by the transport command are determined.

[0008] The estimated time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail is used as the first transport time.

[0009] The vertical position at which the pick-and-place module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first transport time is determined as the third vertical position, and the target direction is the direction from the first vertical position to the second vertical position;

[0010] If the third vertical position is located in the target direction of the second vertical position, then the vertical slide rail is controlled to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and the pick-and-place module is simultaneously controlled to slide from the first vertical position to the second vertical position.

[0011] In one possible embodiment, the method further includes:

[0012] If the third vertical position is located in the opposite direction to the target direction of the second vertical position, then the vertical slide rail is controlled to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and the pick-and-place module is simultaneously controlled to slide from the first vertical position to the third vertical position.

[0013] After the vertical slide rail slides to the second horizontal position, the pick-and-place module is controlled to slide from the third vertical position to the second vertical position.

[0014] In one possible embodiment, determining the vertical position of the pick-up and place module after sliding along the target direction at the maximum vertical sliding speed for the first transport time from the first vertical position as the fourth vertical position includes:

[0015] The fourth vertical position is calculated using the following formula:

[0016] h t =h0±t×(V 竖直max ×c1)

[0017] Among them, h t h0 is used to represent the fourth vertical position, h0 is used to represent the first vertical position, t is used to represent the first handling time, and V is used to represent the first handling time. 竖直max c1 is used to represent the maximum vertical sliding speed, and c1 is used to represent the preset first compensation coefficient.

[0018] In one possible embodiment, the estimation of the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, as the first transport time, includes:

[0019] Determine the length by which the vertical slide rail slides horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and the maximum horizontal speed of the vertical slide rail, wherein the maximum horizontal speed is the maximum value of the speed at which the vertical slide rail slides horizontally along the horizontal slide rail;

[0020] The first transport time is obtained by calculating the quotient of the length and the maximum horizontal speed of the vertical slide rail.

[0021] In one possible embodiment, calculating the quotient of the length and the maximum horizontal speed of the vertical slide rail to obtain the first transport time includes:

[0022] The first handling time is calculated using the following formula:

[0023] t = c² × L ÷ V 水平max

[0024] Where t represents the first transport time, L represents the length, and V 水平max c2 is used to represent the maximum horizontal speed, and c2 is used to represent the preset second compensation coefficient.

[0025] Secondly, this application provides an intelligent handling equipment handling operation path planning device. The intelligent handling equipment includes a horizontal slide rail, a vertical slide rail, and a pick-and-place module. The vertical slide rail is disposed on the horizontal slide rail and is used to slide horizontally along the horizontal slide rail. The pick-and-place module is disposed on the vertical slide rail and is used to slide vertically along the vertical slide rail.

[0026] The device includes:

[0027] The first determining module is used to determine, in response to a handling command, the first horizontal position of the vertical slide rail, the first vertical position of the pick-and-place module, and the second horizontal and second vertical positions indicated by the handling command.

[0028] The time estimation module is used to estimate the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and use it as the first transport time.

[0029] The second determining module is used to determine the vertical position where the picking and placing module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first handling time, which is taken as the third vertical position, and the target direction is the direction from the first vertical position to the second vertical position;

[0030] The control module is configured to, if the third vertical position is located in the target direction of the second vertical position, control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-and-place module to slide from the first vertical position to the second vertical position.

[0031] In one possible embodiment, the control module is further configured to, if the third vertical position is located in the opposite direction to the target direction of the second vertical position, control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-and-place module to slide from the first vertical position to the third vertical position; after the vertical slide rail slides to the second horizontal position, control the pick-and-place module to slide from the third vertical position to the second vertical position.

[0032] In one possible embodiment, the duration estimation module is specifically used to determine the length of the vertical slide rail sliding horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail and the maximum horizontal speed of the vertical slide rail, wherein the maximum horizontal speed is the maximum value of the speed of the vertical slide rail when sliding horizontally along the horizontal slide rail; and to calculate the quotient of the length and the maximum horizontal speed of the vertical slide rail to obtain the first transport duration.

[0033] Thirdly, embodiments of this application provide an electronic device, including a processor and a memory;

[0034] The memory is used to store computer programs;

[0035] When the processor executes the program stored in the memory, it implements the intelligent handling equipment handling operation path planning method described in this application.

[0036] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the intelligent handling equipment handling operation path planning method described in this application.

[0037] Beneficial effects of the embodiments in this application:

[0038] The intelligent handling equipment handling path planning method and apparatus provided in this application decomposes the handling path planning into a horizontal path (i.e., the path along which the vertical slide rail slides) and a vertical path (i.e., the path along which the pick-and-place module slides). Based on the time taken for the horizontal path (i.e., the first handling time), it is determined whether the pick-and-place module can move to the second horizontal position before the horizontal path is completed. If the pick-and-place module can move to the second horizontal position before the horizontal path is completed, a vertical path is planned to slide from the current position (i.e., the first vertical position) to the second vertical position. Simultaneously, the vertical slide rail slides along the horizontal path and the pick-and-place module slides along the vertical path, so that the pick-and-place module does not need to wait for the vertical slide rail to move into place before it starts to slide, which effectively improves the handling efficiency of the intelligent handling equipment.

[0039] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0041] Figure 1 A schematic diagram of the STU robot provided in an embodiment of this application;

[0042] Figure 2 A schematic diagram of a shelf provided in an embodiment of this application;

[0043] Figure 3 A schematic diagram of an STU robot and shelf provided in an embodiment of this application;

[0044] Figure 4 A flowchart illustrating a method for planning the handling operation path of intelligent handling equipment provided in this application embodiment;

[0045] Figure 5 Another schematic diagram of the shelf provided in an embodiment of this application;

[0046] Figure 6 Another flowchart illustrating the intelligent handling equipment handling path planning method provided in this application embodiment;

[0047] Figure 7 A schematic diagram of a smart handling equipment handling operation path planning device provided in an embodiment of this application;

[0048] Figure 8 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0050] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0051] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0052] First, let's explain the technical terms used in this application:

[0053] Warehouse robots: Robots used in warehouses or logistics for automated material handling, storage, and retrieval.

[0054] STU robot: It is a type of overhead rail transport robot for warehousing automation. Its main feature is that the vertical slide rail can slide horizontally, and the pick-and-place module can slide vertically along the vertical slide rail.

[0055] Before providing a detailed explanation of the intelligent handling equipment handling operation path planning method provided in the embodiments of this application, the application scenarios of the intelligent handling equipment handling operation path planning method provided in the embodiments of this application will be introduced first.

[0056] The intelligent handling equipment handling path planning method provided in this application can be used in warehousing and logistics applications. Warehousing and logistics refers to the use of self-built or leased warehouses for the storage, safekeeping, loading, unloading, handling, and distribution of goods.

[0057] Currently, STU robots are commonly used to move items in warehouse environments, and planning the movement path of STU robots is the foundation for using robots to move items in warehouse environments.

[0058] Figure 1 This is a schematic diagram of an STU robot provided in an embodiment of this application. Figure 1 The STU robot includes a pick-and-place module 100, a vertical slide rail 200, and a horizontal slide rail (not shown in the figure). The pick-and-place module 100 can move along the vertical slide rail in the vertical direction (i.e., Figure 1 The vertical slide rail 200 slides along the horizontal slide rail in the vertical direction. The bottom of the vertical slide rail 200 engages with the horizontal slide rail, allowing the vertical slide rail 200 to be slidably positioned on the horizontal slide rail. The vertical slide rail 200 can slide along the horizontal slide rail in the horizontal direction (i.e., vertical direction). Figure 1 Slide in the direction perpendicular to the vertical direction.

[0059] Figure 2 A schematic diagram of a shelf provided in an embodiment of this application, in Figure 2 The shelf 400 shown includes 4 layers and 4 columns of storage locations, wherein the first storage location 401 is the storage location in the 4th column of the 1st layer, and the second storage location 402 is the storage location in the 4th column of the 2nd layer. Figure 2 The illustration shows only one possible example of a shelving unit and does not imply that the shelving unit in this application only has 4 layers and 4 columns of storage locations. The positional relationship between the shelving unit and the STU robot can be found in [reference needed]. Figure 3 , Figure 3 To better illustrate the positional relationship between the shelving and the STU robot, the individual storage locations within the shelving and the details of the STU robot are not shown. For information on the structure of the STU robot, please refer to [link / reference needed]. Figure 1 As shown.

[0060] Figure 3 It includes an STU robot's pick-and-place module 100, a vertical slide rail 200, and a horizontal slide rail 300, as well as a shelf 400. Figure 3 As can be seen, by controlling the vertical slide rail 200 to slide horizontally along the horizontal slide rail 300, the pick-and-place module 100 can be aligned with storage locations in different columns of the shelf 400. Furthermore, by controlling the pick-and-place module 100 to slide vertically along the vertical slide rail 200, it can be aligned with storage locations on different layers of the shelf 400. Moreover, by controlling the sliding of the vertical slide rail 200 and the pick-and-place module 100, the pick-and-place module 100 can be aligned with storage locations on specific layers and in specific columns of the shelf 400, thereby retrieving goods from those storage locations or unloading goods into those storage locations.

[0061] For example, when it is necessary to... Figure 2 Goods stored in the first storage location 401 are moved to the second storage location 402. Assuming the pick-and-place module 100 is initially aligned with the first storage location 401, in related technologies, the STU robot typically first controls the pick-and-place module 100 to pick up the goods from the first storage location 401. Then, it controls the vertical slide rail 200 to slide right along the horizontal slide rail 300 until the pick-and-place module 100 aligns with the fourth column of the shelf 400. Next, it controls the pick-and-place module 100 to slide down along the vertical slide rail 200 until it aligns with the second shelf of the shelf 400. At this point, the pick-and-place module 100 is aligned with the second storage location 402. Finally, it controls the pick-and-place module 100 to unload the goods into the second storage location. However, in this scheme, the pick-and-place module 100 needs to wait for the vertical slide rail 200 to move before it can start moving, resulting in a longer processing time for the STU robot.

[0062] Next, the implementation environment involved in the embodiments of this application will be described.

[0063] To address the technical problems existing in related technologies, this application provides a method for planning the handling operation path of an intelligent handling device. The intelligent handling device in this application includes a horizontal slide rail, a vertical slide rail, and a pick-and-place module. The vertical slide rail is disposed on the horizontal slide rail and used for horizontal sliding along the horizontal slide rail, while the pick-and-place module is disposed on the vertical slide rail and used for vertical sliding along the vertical slide rail. The intelligent handling device in this application can be the aforementioned STU robot, or other handling devices with the aforementioned defined features. For ease of description, the term "intelligent handling device" will be used in the following description. Figure 1 , Figure 3 The example shown is of an STU robot; the principle is the same for other cases, and will not be repeated here.

[0064] The method can be found in Figure 4 The method includes the following steps:

[0065] S41, in response to the transport command, determines the first horizontal position of the vertical slide rail, the first position of the pick-up and place module, and the second horizontal and second vertical positions indicated by the transport command.

[0066] It should be noted that the handling instruction is the instruction received by the intelligent handling device to instruct on the handling task. For example, the aforementioned example will... Figure 2 When goods stored in the first storage location 401 are moved to the second storage location 402, two moving instructions are required. The first moving instruction instructs the retrieval of goods from the first storage location 401, and the second moving instruction instructs the unloading of goods into the second storage location 402. Correspondingly, the second horizontal position indicated by the first moving instruction is the horizontal position of the first storage location 401, and the second vertical position indicated by the second moving instruction is the vertical position of the first storage location 401.

[0067] Furthermore, it is understood that the horizontal position of a storage location can be represented by the horizontal position of any spatial point spatially associated with that storage location (hereinafter referred to as the horizontal position point), and the vertical position of a storage location can also be represented by the vertical position of any spatial point spatially associated with that storage location (hereinafter referred to as the vertical position point). Moreover, the horizontal and vertical position points of a storage location can be the same or different. However, the relative positions of the horizontal position points of all storage locations with respect to that storage location should be the same, and the relative positions of the vertical position points of all storage locations with respect to that storage location should also be the same.

[0068] For example, see Figure 5For the first storage location 401 in the shelf 400, the first point 401a can be used as the horizontal position point of the first storage location 401 and the first point 401a can be used as the vertical position point of the first storage location 401. Alternatively, the second point 401b can be used as the horizontal position point of the first storage location 401 and the second point 401b can be used as the vertical position point of the first storage location 401. Or, the first point 401a can be used as the horizontal position point of the first storage location 401 and the second point 401b can be used as the vertical position point of the first storage location 401.

[0069] Furthermore, since the third point 402a and the first point 401a are in the same relative position to their respective storage locations, and the fourth point 402b and the second point 401b are in the same relative position to their respective storage locations, if the first point 401a is taken as the horizontal position point of the first storage location 401, then the third point 402a must be taken as the horizontal position point of the second storage location 402, and the fourth point 402b cannot be taken as the horizontal position point of the second storage location 402. Similarly, if the second point 401b is taken as the vertical position point of the first storage location 401, then the fourth point 402b must be taken as the vertical position point of the second storage location 402, and the third point 402a cannot be taken as the horizontal position point of the second storage location 402.

[0070] Similarly, the first horizontal position of the vertical slide rail can also be represented by the horizontal position of any spatial point that is spatially related to the vertical slide rail, and the first vertical position of the pick-and-place module can also be represented by the horizontal position of any spatial point that is spatially related to the pick-and-place module.

[0071] However, it should be ensured that: when the horizontal position point of the vertical slide rail is aligned with the horizontal position point of the storage location indicated by the handling instruction (hereinafter referred to as the target storage location), the pick-and-place module should be aligned with the column to which the target storage location belongs; and, when the vertical position point of the pick-and-place module is aligned with the vertical position point of the target storage location, the pick-and-place module should be aligned with the layer to which the target storage location belongs. For cases requiring the retrieval of goods, the target storage location is the storage location where the goods to be retrieved are stored; for cases requiring the unloading of goods, the target storage location is the storage location to which the goods need to be unloaded.

[0072] For example, such as Figure 3 The vertical slide rail 200 shown consists of two slide rails. The slide rail on the left is referred to as the left vertical slide rail, and the slide rail on the right is referred to as the right vertical slide rail. It is assumed that the horizontal spacing between the left and right vertical slide rails is the same as the width of the storage space (i.e., the horizontal dimension), and it is assumed that the target storage space is... Figure 5The first storage position 401. When the left vertical slide rail and the second point 401b are aligned in the horizontal direction, the pick-and-place module 100 is aligned with the column (i.e., the first column) to which the first storage position 401 belongs. Therefore, if the second point 401b is taken as the horizontal position point of the first storage position 401, then the point on the left vertical slide rail should be taken as the horizontal position point of the vertical slide rail 200, and the point on the right vertical slide rail cannot be taken as the horizontal position point of the vertical slide rail 200.

[0073] Similarly, when the right vertical slide rail is aligned with the first point 401a in the horizontal direction, the pick-and-place module 100 is aligned with the first column. Therefore, if the first point 401a is taken as the horizontal position point of the first storage position 401, then the point on the right vertical slide rail should be taken as the horizontal position point of the vertical slide rail 200, and the point on the left vertical slide rail cannot be taken as the horizontal position point of the vertical slide rail 200.

[0074] S42, estimate the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and use this as the first transport time.

[0075] The first transport time can be calculated based on the theoretical speed of the vertical slide rail sliding horizontally along the horizontal slide rail and the interval between the first and second horizontal positions. Alternatively, it can be obtained by looking up the first transport time from the correspondence between the interval between the first and second horizontal positions and a preset interval and transport time. How to calculate the first transport time will be explained exemplarily below and will not be repeated here.

[0076] S43, determine the vertical position where the pick-up and place module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first transport time, and take it as the third vertical position.

[0077] Wherein, the target direction is the direction from the first vertical position to the second vertical position. For example, using... Figure 2 , Figure 3 Taking the scenario shown as an example, assume the target storage location is... Figure 2 The second storage location 402 is then... Figure 3 It is evident that the vertical slide rail is clearly to the left of the second storage position 402, therefore the target direction is to the right along the horizontal slide rail 300. However, if we assume the target storage position is... Figure 2 The first storage location 401 is then... Figure 3 It is evident that the vertical slide rail is clearly to the right of the second storage position 402, therefore the target direction is to the left along the horizontal slide rail 300.

[0078] The maximum vertical sliding speed can refer to: the theoretical maximum speed at which the pick-and-place module slides vertically along the vertical slide rail; the maximum speed preset for the pick-and-place module; or the maximum actual sliding speed of the vertical slide rail over a historical period. For example, assuming the rated speed of the pick-and-place module sliding vertically along the vertical slide rail is am / s – bm / s, where b > a, then b can be taken as the maximum vertical sliding speed. As another example, although the rated speed of the pick-and-place module sliding vertically along the vertical slide rail is am / s – bm / s, but the user has preset that the sliding speed of the pick-and-place module cannot exceed cm / s, where b > c > a, then c can be taken as the maximum vertical sliding speed. Yet another example is obtaining the sliding speed of the pick-and-place module at various times within the most recent day or 12 hours, and using the maximum value among these as the maximum vertical sliding speed.

[0079] Since the third vertical position is the position that the pick-and-place module can reach by sliding at its maximum vertical sliding speed, and it can be assumed that the sliding speed of the pick-and-place module will not exceed the maximum vertical sliding speed, the third vertical position can be considered as the farthest vertical position in the target direction that can be reached within the first transport time. The first transport time is the time required for the vertical slide rail to slide from its current position (i.e., the first horizontal position) to the horizontal position of the column to which the target storage location belongs (i.e., the second horizontal position). Therefore, the third vertical position can be regarded as: the farthest vertical position that the pick-and-place module can reach in the target direction when the vertical slide rail has moved into place.

[0080] S44, if the third vertical position is located in the target direction of the second vertical position, then control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-up and put-down module to slide from the first vertical position to the second vertical position.

[0081] If the third vertical position is located in the target direction of the second vertical position, it means that the third vertical position is farther than the second vertical position in the target direction. Since the third vertical position can be regarded as the farthest vertical position that the pick-up and place module can reach in the target direction when the vertical slide rail is in place, the pick-up and place module can slide to the second vertical position when the vertical slide rail is in place. Therefore, while controlling the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, the pick-up and place module is controlled to slide from the first vertical position to the second vertical position.

[0082] The intelligent handling equipment handling path planning method provided in this application decomposes the handling path planning into a horizontal path (i.e., the path along which the vertical slide rail slides) and a vertical path (i.e., the path along which the pick-and-place module slides). Based on the time taken for the horizontal path (i.e., the first handling time), it is determined whether the pick-and-place module can move to the second horizontal position before the horizontal path is completed. If the pick-and-place module can move to the second horizontal position before the horizontal path is completed, a vertical path is planned to slide from the current position (i.e., the first vertical position) to the second vertical position. Simultaneously, the vertical slide rail slides along the horizontal path and the pick-and-place module slides along the vertical path, so that the pick-and-place module does not need to wait for the vertical slide rail to move into place before it starts sliding, which effectively improves the handling efficiency of the intelligent handling equipment.

[0083] The above has provided a brief description of the intelligent handling equipment operation path planning method provided in this application. The following will provide an exemplary description of how to calculate the first handling time. In one possible embodiment, it may be to determine the length of the vertical slide rail sliding horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail and the maximum horizontal speed of the vertical slide rail; calculate the difference between the length and the maximum horizontal speed of the vertical slide rail as the first handling time.

[0084] The maximum horizontal speed can refer to the theoretical maximum speed at which the vertical slide rail slides horizontally along the horizontal slide rail, the maximum speed preset for the vertical slide rail, or the maximum actual sliding speed of the vertical slide rail over a historical period. For example, assuming the rated speed of the vertical slide rail sliding horizontally along the horizontal slide rail is dm / s – em / s, where e > d, then e can be taken as the maximum horizontal sliding speed. As another example, although the rated speed of the vertical slide rail sliding horizontally along the horizontal slide rail is dm / s – em / s, but the user has preset that the sliding speed of the pick-and-place module cannot exceed fm / s, where e > f > d, then f can be taken as the maximum horizontal sliding speed. Yet another example is obtaining the sliding speed of the vertical slide rail at various times within the most recent day or 12 hours, and using the maximum value among these as the maximum horizontal sliding speed.

[0085] If the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail is determined according to the average speed of the vertical slide rail, and the third vertical position of the pick-and-place module within this first transportation time is determined, then during the actual transportation operation of the intelligent handling equipment, if the sliding speed of the intelligent handling equipment is greater than the average speed of the vertical slide rail, then the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail is less than the first transportation time. It is possible that after the vertical slide rail slides horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, the pick-and-place module has not yet slid to the second vertical position.

[0086] In this embodiment, the estimated time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail is used as the first transport time, and the vertical position where the pick-and-place module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the first transport time is used as the third vertical position.

[0087] Therefore, by adopting this embodiment, since the actual sliding speed of the intelligent handling device is less than the maximum horizontal speed of the vertical slide rail, the minimum time required for the intelligent handling device to slide from the first horizontal position to the second horizontal position is determined based on the maximum horizontal speed. It is also determined that the pick-and-place module slides from the first vertical position along the target direction at the maximum vertical sliding speed within the minimum time to the vertical position after the first handling time. This can reduce the possibility that the pick-and-place module has not yet reached the second vertical position before the vertical slide rail reaches the first horizontal position.

[0088] Of course, in other possible embodiments, the first transport time can also be determined based on the length of the vertical slide rail sliding horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, the maximum horizontal velocity of the vertical slide rail, the maximum horizontal acceleration of the vertical slide rail, and the maximum horizontal deceleration of the vertical slide rail. This application does not limit this.

[0089] Furthermore, in one possible embodiment, the first transport time can be calculated specifically according to the following formula:

[0090] t = c² × L ÷ V 水平max

[0091] Where t represents the first transport time, L represents the length of the vertical slide rail sliding horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and V represents the length of the vertical slide rail sliding horizontally from the first horizontal position to the second horizontal position. 水平max c2 is used to represent the maximum horizontal speed of the vertical slide rail, and c2 is used to represent the second compensation coefficient.

[0092] The value of c2 can be determined according to the actual situation, but it should be greater than 1. For example, it can be 2 or 4 / 3, which are values ​​greater than 1.

[0093] Using the method of this application embodiment, since the actual sliding speed of the vertical slide rail will not reach the maximum sliding speed of the vertical slide rail, the introduction of a second compensation coefficient can compensate for the sliding speed of the vertical slide rail.

[0094] To quickly and accurately obtain the third vertical position, in one possible embodiment, the third vertical position is calculated according to the following formula:

[0095] h t =h0±t×(V 竖直max ×c1)

[0096] Among them, h t h0 is used to represent the third vertical position, h0 is used to represent the first vertical position, t is used to represent the first handling time, and V is used to represent the first handling time. 竖直max The formula is used to represent the maximum vertical sliding speed, and c1 is used to represent the first compensation coefficient. When the height of the second vertical position is higher than the height of the first vertical position, the ± in the formula takes the + sign, and when the height of the second vertical position is lower than the height of the first vertical position, the ± in the formula takes the - sign.

[0097] The value of c1 can be a positive number less than 1. The specific value can be determined according to the actual situation. For example, it can be 1 / 2 or 3 / 4.

[0098] Of course, in other possible embodiments, the fourth vertical position can also be determined based on the first transport time, the first vertical position, the maximum vertical sliding speed, the maximum vertical sliding acceleration, and the maximum vertical sliding deceleration. This application does not limit this.

[0099] The previous example only illustrates the case where the third vertical position is located in the target direction of the second vertical position. However, for the case where the third vertical position is located in the opposite direction to the target direction of the second vertical position, it can be described as follows: Figure 6 As shown, it includes:

[0100] S41, in response to the transport command, determines the first horizontal position of the vertical slide rail, the first position of the pick-up and place module, and the second horizontal and second vertical positions indicated by the transport command.

[0101] S42, estimate the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and use this as the first transport time.

[0102] S43, determine the vertical position where the pick-up and place module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first transport time, and take it as the third vertical position.

[0103] S44, if the third vertical position is located in the target direction of the second vertical position, then control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-up and put-down module to slide from the first vertical position to the second vertical position.

[0104] S45, if the third vertical position is located in the opposite direction of the target direction of the second vertical position, then control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-up and put-down module to slide from the first vertical position to the third vertical position.

[0105] If the third vertical position is located in the opposite direction to the target direction of the second vertical position, it means that the second vertical position is farther than the third vertical position in the target direction. Since the third vertical position can be regarded as the farthest vertical position that the pick-up and place module can reach in the target direction when the vertical slide rail is in place, the pick-up and place module cannot slide to the second vertical position when the vertical slide rail is in place. That is, it is impossible to control the pick-up and place module to slide from the first vertical position to the second vertical position while controlling the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail.

[0106] In order to ensure that the pick-and-place module is as close as possible to the target storage location after the vertical slide rail completes its horizontal trajectory, in this embodiment, while controlling the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, the pick-and-place module is controlled to slide from the first vertical position to the third vertical position.

[0107] S46, after the vertical slide rail slides to the second horizontal position, control the pick-and-place module to slide from the third vertical position to the second vertical position.

[0108] In this situation, after the vertical slide rail slides to the second horizontal position, the pick-and-place module is located in the third vertical position. Therefore, the pick-and-place module is obviously not aligned with the target storage location, and thus the handling operation cannot be performed. Therefore, in this embodiment, it is necessary to further control the pick-and-place module to continue sliding from the third vertical position to the second vertical position so that the pick-and-place module is aligned with the target storage location, thereby enabling the handling operation.

[0109] Depend on Figure 6 As can be seen from the embodiment shown, if the vertical position of the pick-and-place module when the slide rail slides horizontally from the first horizontal position to the second horizontal position is recorded as the fourth vertical position, then when the third vertical position is in the target direction of the second vertical position, the fourth vertical position is the second vertical position, and when the third vertical position is in the opposite direction of the target direction of the second vertical position, the fourth vertical position is the third vertical position.

[0110] Therefore, if the height of the first vertical position is greater than the height of the second vertical position, the fourth vertical position can be represented by the following formula:

[0111] h 第四竖直位置 =min(h 第三竖直位置 h 第二竖直位置 If h 第二竖直位置 >h 第一竖直位置

[0112] Among them, h 第三竖直位置 h is the height of the third vertical position. 第四竖直位置 h is the height of the fourth vertical position. 第二竖直位置 h is the height of the second vertical position. 第一竖直位置 This represents the height of the first vertical position.

[0113] When the height of the first vertical position is less than the height of the second vertical position, the fourth vertical position can be represented by the following formula:

[0114] h 第四竖直位置 =max(h 第三竖直位置 h 第二竖直位置 If h 第二竖直位置 <h 第一竖直位置

[0115] Among them, h 第三竖直位置 h is the height of the third vertical position. 第四竖直位置 h is the height of the fourth vertical position. 第二竖直位置 h is the height of the second vertical position. 第一竖直位置 This represents the height of the first vertical position.

[0116] Another example is when the vertical slide rail does not need to slide horizontally, that is, when the first horizontal position and the second horizontal position are the same, the pick-and-place module is directly slid from the first vertical position to the second vertical position.

[0117] For example, when the vertical slide rail does not need to slide horizontally, the pick-and-place module is directly controlled to slide from the first vertical position to the second vertical position. In this case, the fourth vertical position can be represented by the following formula:

[0118] h 第四竖直位置 = h 第二竖直位置 If t=0

[0119] Among them, h 第四竖直位置 h is the height of the third vertical position. 第二竖直位置 t represents the height of the fourth vertical position, and t represents the first transport time.

[0120] This application embodiment also provides a smart handling equipment handling operation path planning device. The smart handling equipment includes a horizontal slide rail, a vertical slide rail, and a pick-and-place module. The vertical slide rail is disposed on the horizontal slide rail and is used to slide horizontally along the horizontal slide rail. The pick-and-place module is disposed on the vertical slide rail and is used to slide vertically along the vertical slide rail.

[0121] The device is as follows Figure 7 As shown, it includes:

[0122] The first determining module 701 is used to determine, in response to a transport command, the first horizontal position of the vertical slide rail, the first vertical position of the pick-up and place module, and the second horizontal and second vertical positions indicated by the transport command.

[0123] The time estimation module 702 is used to estimate the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and use it as the first transport time.

[0124] The second determining module 703 is used to determine the vertical position where the picking and placing module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first handling time, which is taken as the third vertical position. The target direction is the direction from the first vertical position to the second vertical position.

[0125] The control module 704 is configured to, if the third vertical position is located in the target direction of the second vertical position, control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-and-place module to slide from the first vertical position to the second vertical position.

[0126] In one possible embodiment, the control module 704 is further configured to, if the third vertical position is located in the opposite direction to the target direction of the second vertical position, control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-and-place module to slide from the first vertical position to the third vertical position; after the vertical slide rail slides to the second horizontal position, control the pick-and-place module to slide from the third vertical position to the second vertical position.

[0127] In one possible embodiment, the duration estimation module 702 is specifically used to determine the length of the vertical slide rail sliding horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail and the maximum horizontal speed of the vertical slide rail, wherein the maximum horizontal speed is the maximum value of the speed of the vertical slide rail when sliding horizontally along the horizontal slide rail; and to calculate the quotient of the length and the maximum horizontal speed of the vertical slide rail to obtain the first transport duration.

[0128] This application also provides an electronic device, such as... Figure 8 As shown, it includes:

[0129] Memory 801 is used to store computer programs;

[0130] When processor 802 executes a program stored in memory 801, it performs the following steps:

[0131] In response to a transport command, the first horizontal position of the vertical slide rail, the first vertical position of the pick-and-place module, and the second horizontal and second vertical positions indicated by the transport command are determined.

[0132] The estimated time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail is used as the first transport time.

[0133] The vertical position at which the pick-and-place module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first transport time is determined as the third vertical position, and the target direction is the direction from the first vertical position to the second vertical position;

[0134] If the third vertical position is located in the target direction of the second vertical position, then the vertical slide rail is controlled to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and the pick-and-place module is simultaneously controlled to slide from the first vertical position to the second vertical position.

[0135] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0136] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0137] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described intelligent handling equipment handling path planning methods.

[0138] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the intelligent handling equipment handling operation path planning methods in the above embodiments.

[0139] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0140] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0141] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, and storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0142] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A method for planning the handling operation path of intelligent handling equipment, characterized in that, The intelligent handling device includes a horizontal slide rail, a vertical slide rail, and a pick-and-place module. The vertical slide rail is disposed on the horizontal slide rail and is used to slide horizontally along the horizontal slide rail. The pick-and-place module is disposed on the vertical slide rail and is used to slide vertically along the vertical slide rail. The method includes: In response to a transport command, the first horizontal position of the vertical slide rail, the first vertical position of the pick-and-place module, and the second horizontal and second vertical positions indicated by the transport command are determined. The estimated time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail is used as the first transport time. The vertical position at which the pick-and-place module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first transport time is determined as the third vertical position, and the target direction is the direction from the first vertical position to the second vertical position; If the third vertical position is located in the target direction of the second vertical position, then the vertical slide rail is controlled to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and the pick-and-place module is simultaneously controlled to slide from the first vertical position to the second vertical position. If the third vertical position is located in the opposite direction to the target direction of the second vertical position, then the vertical slide rail is controlled to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and the pick-and-place module is simultaneously controlled to slide from the first vertical position to the third vertical position. After the vertical slide rail slides to the second horizontal position, the pick-and-place module is controlled to slide from the third vertical position to the second vertical position.

2. The method according to claim 1, characterized in that, Determining the vertical position of the pick-up and place module after sliding along the target direction at the maximum vertical sliding speed for the first transport time, as the fourth vertical position, includes: The fourth vertical position is calculated using the following formula: h t =h0±t×(V 竖直max ×c1) Among them, h t h0 is used to represent the fourth vertical position, h0 is used to represent the first vertical position, t is used to represent the first handling time, and V is used to represent the first handling time. 竖直max c1 is used to represent the maximum vertical sliding speed, and c1 is used to represent the preset first compensation coefficient.

3. The method according to claim 1, characterized in that, The estimated time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, as the first transport time, includes: Determine the length by which the vertical slide rail slides horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and the maximum horizontal speed of the vertical slide rail, wherein the maximum horizontal speed is the maximum value of the speed at which the vertical slide rail slides horizontally along the horizontal slide rail; The first transport time is obtained by calculating the quotient of the length and the maximum horizontal speed of the vertical slide rail.

4. The method according to claim 3, characterized in that The calculation of the quotient of the length and the maximum horizontal speed of the vertical slide rail to obtain the first transport time includes: The first handling time is calculated using the following formula: t=c2×L÷V 水平max Where t represents the first transport time, L represents the length, and V 水平max c2 is used to represent the maximum horizontal speed, and c2 is used to represent the preset second compensation coefficient.

5. A path planning device for intelligent handling equipment, characterized in that, The intelligent handling device includes a horizontal slide rail, a vertical slide rail, and a pick-and-place module. The vertical slide rail is disposed on the horizontal slide rail and is used to slide horizontally along the horizontal slide rail. The pick-and-place module is disposed on the vertical slide rail and is used to slide vertically along the vertical slide rail. The device includes: The first determining module is used to determine, in response to a handling command, the first horizontal position of the vertical slide rail, the first vertical position of the pick-and-place module, and the second horizontal and second vertical positions indicated by the handling command. The time estimation module is used to estimate the time required for the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and use it as the first transport time. The second determining module is used to determine the vertical position where the picking and placing module slides from the first vertical position along the target direction at the maximum vertical sliding speed to the vertical position after the first handling time, which is taken as the third vertical position, and the target direction is the direction from the first vertical position to the second vertical position; The control module is configured to, if the third vertical position is located in the target direction of the second vertical position, control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-and-place module to slide from the first vertical position to the second vertical position. The control module is further configured to, if the third vertical position is located in the opposite direction to the target direction of the second vertical position, control the vertical slide rail to slide horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail, and simultaneously control the pick-and-place module to slide from the first vertical position to the third vertical position; and after the vertical slide rail slides to the second horizontal position, control the pick-and-place module to slide from the third vertical position to the second vertical position.

6. The apparatus according to claim 5, characterized in that, The duration estimation module is specifically used to determine the length of the vertical slide rail sliding horizontally from the first horizontal position to the second horizontal position along the horizontal slide rail and the maximum horizontal speed of the vertical slide rail, wherein the maximum horizontal speed is the maximum value of the speed of the vertical slide rail when sliding horizontally along the horizontal slide rail; and to calculate the quotient of the length and the maximum horizontal speed of the vertical slide rail to obtain the first transport time.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method of any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-4.

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