An automated warehousing method and system for glass plate processing

Abstract

The present application provides an automated warehousing method and system for glass plate processing, which relates to the technical field of glass plate transfer. The method includes: after detecting that the glass plate touches the handling rack, obtaining the first pressure data detected by each support point in real time; if the first pressure data is always less than or equal to the first pressure threshold, calculating the pressure difference between different support points; after determining two support points with a pressure difference greater than the second pressure threshold, controlling the glass plate to move in the direction of the support point with a smaller pressure value until the pressure difference is less than the second pressure threshold; after the handling rack starts to move, if it is detected that the vibration amplitude is greater than the preset vibration threshold or the second pressure data is greater than the first pressure threshold, a wear warning is given. Implementing this method can reduce the stress concentration caused by uneven support, thereby reducing the breakage risk and effectively ensuring the stability and safety of the glass plate during handling.

Description

Technical Field

[0001] The present application relates to the technical field of glass plate transfer, and particularly to an automated warehousing method and system for glass plate processing. Background Art

[0002] In modern industrial production, glass plates are a widely used material, applied in various fields such as construction, automotive, and household appliances. Due to the brittleness and high value of glass plates, special attention is required during their storage and handling to prevent breakage and loss. Automated warehousing systems are widely adopted due to their advantages of improving efficiency and reducing human errors.

[0003] In current automated warehousing systems, the handling of glass plates is usually completed by robotic arms or handling vehicles. These systems use support frames to stably support the glass plates and avoid damage caused by direct contact. During the handling process, the support points play a crucial role in the stability of the glass plates.

[0004] However, in the automated warehousing systems in related technologies, during the process of placing or moving the glass plates, they are prone to wear due to uneven force, and even cause the glass plates to be crushed. Summary of the Invention

[0005] The present application provides an automated warehousing method and system for glass plate processing, which is used to solve the problem that the glass plates are worn due to uneven force during the process of being placed or moved.

[0006] In a first aspect, the present application provides an automated warehousing method for glass plate processing, which is applied to an automated warehousing system. The method includes:

[0007] After detecting that the glass plate contacts multiple support points on the handling rack, the first pressure data detected by each support point is obtained in real time. The support point is equipped with a pressure sensor and a vibration sensor;

[0008] During the process of placing the glass plate on the handling rack, if it is detected that the first pressure data of each support point is always less than or equal to the first pressure threshold, the pressure difference between different support points is calculated;

[0009] After determining two support points with a pressure difference greater than the second pressure threshold, the glass plate is controlled to move in the direction of the support point with a smaller pressure value until the pressure difference is less than the second pressure threshold;

[0010] After detecting that the handling rack starts to move, the vibration amplitude of the glass plate is obtained through the vibration sensor;

[0011] If it is detected that the vibration amplitude is greater than the preset vibration threshold or the second pressure data is greater than the first pressure threshold, wear warning is carried out, and the second pressure data is the pressure data collected at each support point during the movement of the handling rack.

[0012] Through the above embodiments, the automated warehousing system reduces stress concentration caused by uneven support and effectively ensures the stability and safety of the glass plate during handling by real-time monitoring of the pressure data at the support points and the vibration amplitude of the glass plate, and at the same time adjusting the position of the glass plate based on the pressure difference.

[0013] In some embodiments, during the process of placing the glass plate on the handling rack, if it is detected that the first pressure data at each support point is always less than or equal to the first pressure threshold, the steps of calculating the pressure difference between different support points specifically include:

[0014] If it is detected that the first pressure data at one or more support points is greater than the first pressure threshold, the placement operation of the glass plate is immediately stopped;

[0015] The first pressure data at the one or more support points is sent to the terminal device.

[0016] Through the above embodiments, the automated warehousing system immediately stops the handling operation in case of pressure exceeding the threshold and sends the data to the terminal device, which enhances the system's rapid response ability to abnormal situations and thus avoids potential safety risks and damage to the glass plate.

[0017] In some embodiments, after determining the two support points with the pressure difference greater than the second pressure threshold, the steps of controlling the glass plate to move in the direction of the support point with a smaller pressure value until the pressure difference is less than the second pressure threshold specifically include:

[0018] If it is detected that multiple pressure differences are greater than the second pressure threshold, determine the two support points with the largest pressure difference;

[0019] Control the glass plate to move in the direction of the support point with a smaller pressure value until the pressure difference is less than the second pressure threshold.

[0020] Through the above embodiments, the automated warehousing system gives a specific adjustment strategy for the glass plate when multiple pressure differences are greater than the second pressure threshold. By optimizing the pressure balance between the support points, the risk of glass plate breakage caused by uneven pressure is further reduced, and the safety and efficiency of the handling process are improved.

[0021] In some embodiments, before the step of obtaining the first pressure data detected at each support point in real time after detecting that the glass plate contacts multiple support points on the handling rack, it further includes:

[0022] Obtain the size and type of the glass plate;

[0023] Match the corresponding grasping force of the robotic arm from a preset database according to the size and type. The robotic arm is equipped with a pressure sensor.

[0024] Through the above embodiments, the automated warehousing system obtains the size and type of the glass plate and adjusts the grasping force of the robotic arm accordingly. Such a preprocessing step improves the handling accuracy and adaptability, enabling the system to perform personalized processing according to the specific characteristics of different glass plates, and reducing the occurrence of wear during the grasping process of the robotic arm.

[0025] In some embodiments, before the step of obtaining the first pressure data detected at each support point in real time after detecting that the glass plate contacts multiple support points on the handling rack, it further includes:

[0026] Detect the temperature value and humidity value of the warehouse in real time;

[0027] Adjust the temperature and humidity of the warehouse according to preset standard values.

[0028] Through the above embodiments, the automated warehousing system ensures the optimal state of the storage and handling environment by real-time monitoring and regulating environmental conditions such as the temperature and humidity of the warehouse, preventing changes in the physical properties and potential damage of the glass plate caused by environmental changes.

[0029] In some embodiments, before the step of obtaining the vibration amplitude of the glass plate through a vibration sensor after detecting that the handling rack starts to move, it further includes:

[0030] Obtain the first spatial boundary information of the handling equipment, where the handling equipment includes a handling rack;

[0031] Obtain the second spatial boundary information of the glass plate on the handling equipment through laser ranging technology;

[0032] Determine the total spatial boundary of the handling equipment in a stationary state according to the first spatial boundary information and the second spatial boundary information.

[0033] Through the above embodiments, before vibration monitoring, the automated warehousing system can accurately master the spatial position relationship between the handling equipment and the glass plate by obtaining the spatial boundary information of the handling equipment. Such spatial management ensures the high precision and safety of the handling process and reduces wear caused by collisions.

[0034] In some embodiments, after the step of obtaining the vibration amplitude of the glass plate through a vibration sensor after detecting that the handling rack starts to move, it further includes:

[0035] Obtain the real-time position information of each handling equipment;

[0036] Determine the real-time total spatial boundary of the handling device in the moving state based on the position information and the total spatial boundary of the handling device in the stationary state;

[0037] If it is detected that the distance between the real-time total spatial boundaries corresponding to two adjacent handling devices is less than a preset safety threshold, the paths of the two handling devices are adjusted respectively.

[0038] Through the above embodiments, the automated storage system maximizes the handling efficiency and minimizes the collision risk by monitoring the real-time spatial boundary of the handling device and dynamically adjusting the path of the handling device. Furthermore, the occurrence of collision wear or damage is reduced.

[0039] In a second aspect, the present application provides an automated storage system, which includes: one or more processors and a memory;

[0040] The memory is coupled to the one or more processors. The memory is used to store computer program code, and the computer program code includes computer instructions. The one or more processors call the computer instructions so that the automated storage system can implement an automated storage method for glass plate processing provided by the above embodiments, which will not be elaborated here.

[0041] In a third aspect, the present application provides a computer-readable storage medium, including instructions, which, when running on an automated storage system, enable the automated storage system to implement an automated storage method for glass plate processing provided by the above embodiments, which will not be elaborated here.

[0042] In a fourth aspect, the present application provides a computer program product, which, when running on an automated storage system, enables the automated storage system to implement an automated storage method for glass plate processing provided by the above embodiments, which will not be elaborated here.

[0043] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0044] 1. By real-time monitoring the pressure difference at multiple support points and dynamically adjusting the position of the glass plate based on this data, the risk of glass plate breakage caused by uneven support can be significantly reduced, optimizing the safety and accuracy of the handling process. By automatically adjusting the glass plate to the optimal position of pressure balance, excessive stress and potential wear are effectively prevented.

[0045] 2. Obtain the size and type of the glass plate, and accordingly adjust the grasping force of the robotic arm, as well as the real-time monitoring and control of the warehouse environment, achieving fine management of the entire automated warehousing system environment and operating equipment. This not only improves the adaptability and accuracy of operations, but also ensures that the storage and handling conditions of the glass plate remain optimal under different environments, effectively avoiding potential damage to the glass plate caused by environmental factors.

[0046] 3. Real-time monitor the vibration amplitude and pressure data, as well as the response measures taken immediately when the data exceeds the threshold, achieving a high degree of automation and intelligent response capabilities of the automated warehousing system. This instant feedback mechanism not only improves the processing efficiency, but also greatly enhances the early warning and intervention capabilities of the automated warehousing system for abnormal states, ensuring maximum safety during the handling process, making the entire system more sensitive and reliable when dealing with potential risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic flow chart of an automated warehousing method for glass plate processing in an embodiment of the present application;

[0048] Figure 2 is another schematic flow chart of an automated warehousing method for glass plate processing in an embodiment of the present application;

[0049] Figure 3 is a schematic structural diagram of an entity device of an automated warehousing system in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the specification and appended claims of the present application, the singular forms "a", "an", "the", "above", "said", "this" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present application refers to any or all possible combinations including one or more of the listed items.

[0051] Hereinafter, the terms "first" and "second" are only used for descriptive purposes, and cannot be construed as implying or suggesting relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the embodiments of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0052] For ease of understanding, the method provided in this embodiment is described in terms of a process below. Specifically, as Figure 1As shown in the figure, it is a schematic flowchart of an automated warehousing method for glass plate processing in an embodiment of the present application.

[0053] S101. After detecting that the glass plate touches multiple support points on the handling rack, the first pressure data detected by each support point is obtained in real time.

[0054] The processing of the glass plate is inseparable from the handling of the glass plate. Generally, in the handling process, the glass plate is placed on the handling rack of handling equipment such as a forklift by means of a robotic arm or manual labor. When placing the glass plate on the handling rack, generally one side or a part of the glass plate needs to touch the handling rack first, and then the glass plate is slowly lowered until the entire glass plate is placed on the handling rack.

[0055] When the automated warehousing system detects that the glass plate has touched the support points on the handling rack, it immediately activates the pressure sensors to collect the pressure on each support point. Among them, the support points are pre-designed and installed on the handling rack, usually regularly distributed to maximize the stability of supporting the glass plate. Each support point is internally equipped with a highly sensitive pressure sensor, which can transmit the pressure data to the central processing unit of the automated warehousing system in real time.

[0056] It should be noted that when the pressure sensor detects continuous pressure on the support point, it determines that the glass plate has touched the support point on the handling rack and starts uploading the obtained first pressure data to the automated warehousing system.

[0057] S102. During the process of placing the glass plate on the handling rack, if it is detected that the first pressure data of each support point is always less than or equal to the first pressure threshold, calculate the pressure difference between different support points.

[0058] In this step, two key parameters, the pressure threshold and the pressure difference, are introduced to continuously evaluate the support point pressure during the glass plate placement process.

[0059] Specifically, the automated warehousing system sets the first pressure threshold as the upper limit of the support point pressure. During the entire placement process of the glass plate, the automated warehousing system determines in real time whether the pressure of each support point exceeds the first pressure threshold based on the first pressure data collected by the pressure sensor. Among them, the first pressure threshold is close to but less than the critical pressure value at which the glass plate breaks. When the pressure applied to the glass plate exceeds the critical pressure value, the glass plate is at risk of breaking. In addition, the first pressure threshold can be determined by relevant technicians based on experience or experimental data, and is not limited here.

[0060] During the process of placing the glass plate, the system will further calculate the pressure difference between different support points only when it is detected that the pressures at all support points are always maintained below the threshold value, which is used to adjust the position of the glass plate on the handling rack subsequently. On the contrary, if it is detected at a certain moment that the pressure at one or more support points exceeds the first pressure threshold, the placement process will be stopped and wear warning will be directly carried out.

[0061] S103. After determining two support points with a pressure difference greater than the second pressure threshold, control the glass plate to move in the direction of the support point with a smaller pressure value until the pressure differences are all less than the second pressure threshold.

[0062] After obtaining the pressure differences between each support point, the automated storage system compares these differences with the second pressure threshold. Among them, the second pressure threshold sets the allowable range of pressure differences. When the pressure difference between two support points exceeds this threshold, it is determined that the force distribution of the glass plate has deviated significantly from the optimal state and must be intervened and adjusted in time.

[0063] Specifically, the automated storage system controls the robotic arm to adjust the contact position between the glass plate and the support points on the handling rack through instructions. For example, the pressure value of support point A is 23N, the pressure value of support point B is 40N, and the pressure difference between support point A and support point B is 40N - 23N = 17N (17N > the second pressure threshold of 10N), then control the glass plate to move in the direction of support point A to reduce the pressure on support point B. Then, after the glass plate moves a unit distance (such as 5 cm), place the glass plate again and obtain the pressure difference again for detection of the second pressure threshold, and repeat this operation until the pressure difference between any two support points is less than the second pressure threshold.

[0064] In some other embodiments, the automated storage system drives the translation mechanism and the fine-tuning mechanism of the handling rack. Among them, the translation mechanism drives the entire handling rack to generate a horizontal displacement, while the fine-tuning mechanism precisely controls the lifting and angular deflection of each support point. When the pressure at a certain support point is too high (such as exceeding a certain preset threshold), the system will control the corresponding fine-tuning mechanism to descend or tilt, forcing the glass plate to tilt and move towards the support point with a smaller pressure until the high-pressure area is effectively unloaded. The precise control of the fine-tuning mechanism can ensure that the glass plate will not move or overturn significantly during the adjustment process, ensuring the stability and safety of the adjustment.

[0065] S104. After detecting that the handling rack starts to move, obtain the vibration amplitude of the glass plate through a vibration sensor.

[0066] After the glass plate is completely placed on the handling rack, it is generally moved by handling equipment such as a forklift to drive the handling rack. During this process, in addition to the automated storage system processing and obtaining the first pressure data of each support point in real time, vibration sensors installed at the support points collect the vibration data of the glass plate in the vertical and horizontal directions, that is, the vibration amplitude.

[0067] S105. If it is detected that the vibration amplitude is greater than the preset vibration threshold or the second pressure data is greater than the first pressure threshold, a wear warning is issued.

[0068] Excessive vibration and excessive support pressure often mean that both the glass plate and the handling equipment are subjected to stress impacts beyond the safe range. Over time, it is very likely to cause accelerated wear of the handling components and shorten their service life. Therefore, in the embodiment of the present application, when the automated storage system detects that the actual vibration amplitude of the glass plate exceeds the preset vibration threshold, or the support point pressure exceeds the first pressure threshold, the system issues a wear warning signal.

[0069] It should be noted that the above second pressure data is the pressure data collected by each support point during the movement of the handling rack.

[0070] In the above embodiment, the automated storage system reduces the stress concentration caused by uneven support by real-time monitoring the pressure data of the support points and the vibration amplitude of the glass plate, and at the same time adjusts the position of the glass plate based on the pressure difference, thereby reducing the breakage risk and effectively ensuring the stability and safety of the glass plate during handling.

[0071] The following further describes the more specific process of the method provided in this embodiment. Specifically, as Figure 2 shown, it is another process schematic diagram of an automated storage method for glass plate processing in the embodiment of the present application.

[0072] S201. Obtain the size and type of the glass plate.

[0073] Before the automated storage system starts to process the glass plate, it is first necessary to accurately obtain the size and type information of the glass plate to be handled. Among them, the size of the glass plate includes data in three dimensions: length, width, and thickness.

[0074] Specifically, the automated warehousing system can scan the device to quickly read the model information of the glass plate by scanning the barcodes or QR codes pre-pasted or engraved on the glass plate. This model information can be mapped to the specific dimensions and types of the glass plate in the preset database of the system. In addition, the automated warehousing system can also be equipped with optical sensors or laser rangefinders to directly collect the length, width, and height data of the glass plate through non-contact measurement means. For example, in one embodiment, the automated warehousing system can install a set of high-precision line laser sensors above the conveyor line. When the glass plate passes below the sensors, the accurate dimensions of the glass plate can be calculated by measuring the length and position of the light band formed by the laser on the surface of the glass plate.

[0075] In addition, before the automated warehousing system starts to process the glass plate, the automated warehousing system will also detect the temperature value and humidity value of the warehouse in real time through sensors and perform temperature and humidity control of the warehouse, so that the temperature and humidity of the warehouse are always within the standard temperature value range and standard humidity value range. The specific adjustment methods of temperature and humidity are not limited here. By monitoring and regulating environmental conditions such as temperature and humidity of the warehouse in real time, the optimal state of the storage and handling environment is ensured, and physical property changes and potential damages of the glass plate caused by environmental changes are prevented.

[0076] S202. Match the corresponding grasping force of the robotic arm from the preset database according to the dimensions and types.

[0077] It can be understood that the force control of the robotic arm for grasping the glass plate is directly related to the safety and stability of the handling process. If the grasping force is too small, the robotic arm may not be able to reliably hold the glass plate, resulting in the glass plate slipping; while if the grasping force is too large, it may damage the surface of the glass plate or even cause the glass plate to break. In this regard, in the technical solution provided in the present application, a grasping force database is pre-established in the automated warehousing system. This database uses the dimensions and type information of the glass plate as an index and stores the optimal parameters for the robotic arm to grasp the glass plate of this model, such as the pressure of the gripper, the movement speed, the acceleration, etc. Among them, the optimal parameters are obtained by technicians through a large number of experiments and statistical analyses, which can maximize the efficiency while ensuring the reliability of handling.

[0078] When a new glass plate enters the automated warehousing system, the automated warehousing system inputs its dimensions and type information into the grasping force database for query, and quickly obtains the optimal parameters for the robotic arm to grasp this glass plate.

[0079] In the above embodiment, the automated warehousing system obtains the dimensions and types of the glass plate and adjusts the grasping force of the robotic arm accordingly. Such a preprocessing step improves the handling accuracy and adaptability, enables the system to perform personalized processing according to the specific characteristics of different glass plates, and reduces the occurrence of wear during the grasping process of the robotic arm.

[0080] S203. The first pressure data is less than or equal to the first pressure threshold.

[0081] After the glass plate is grasped by the robotic arm and transferred to the handling rack, the pressure sensors installed on the support points start to collect the first pressure data in real time. During this process, the automated storage and retrieval system monitors the first pressure data on each support point in real time and compares it with the first pressure threshold to determine whether the glass plate has been placed stably on the handling rack.

[0082] Furthermore, if it is detected that the first pressure data collected from each support point during the placement of the glass plate is always less than or equal to the first pressure threshold, it is determined that the glass plate has been placed stably on the handling rack. At this time, step S204 is executed to adjust the placement position of the glass plate by calculating the pressure difference between different support points. Conversely, if it is detected that the first pressure data collected from one or more support points at a certain moment is greater than the first pressure threshold, it is determined that the glass plate has a risk of breakage. At this time, step S213 is executed to immediately stop the placement operation of the glass plate and give a warning reminder.

[0083] S204. Calculate the pressure difference between different support points.

[0084] This step is the same as step S102 and will not be elaborated here.

[0085] S205. Determine the two support points with the largest pressure difference.

[0086] When the automated storage and retrieval system calculates the pressure differences between pairs of support points, it determines the maximum pressure difference. For example, a rectangular glass plate is evenly supported by four support points A, B, C, and D, and their pressure values are Pa = 200N, Pb = 250N, Pc = 190N, and Pd = 260N respectively. The pressure difference between the Pd support point and the Pc support point is the largest, reaching 70N. Since this pressure difference exceeds the second pressure threshold (such as 30N), the position of the glass plate needs to be adjusted.

[0087] S206. Control the glass plate to move in the direction of the support point with a smaller pressure value until the pressure differences are all less than the second pressure threshold.

[0088] This step is the same as step S103 and will not be elaborated here.

[0089] S207. Obtain the first spatial boundary information of the handling equipment.

[0090] Specifically, the automated storage and retrieval system can perform three-dimensional modeling and dimension measurement on the handling equipment through various sensing technologies such as infrared, ultrasonic, and optoelectronic to obtain an accurate digital representation of its external contour, that is, the first spatial boundary information.

[0091] For example, in one embodiment, a series of optoelectronic sensors can be installed at key positions of the handling device. When the handling device passes by, these sensors will be triggered in sequence, thereby obtaining a series of position coordinates. Then, the automated storage and retrieval system generates a three-dimensional geometric model of the handling device based on these coordinates, extracts key dimensional parameters such as its length, width, and height, and forms a complete dataset of boundary information.

[0092] S208. Obtain the second spatial boundary information of the glass plate on the handling device through laser ranging technology.

[0093] After obtaining the spatial boundary of the handling device, the automated storage and retrieval system also needs to further obtain the specific position of the glass plate on the handling device, that is, the second spatial boundary information.

[0094] Specifically, multiple laser ranging sensors can be installed at appropriate positions of the handling device to project scanning laser beams onto the surface of the glass plate. After the laser beams encounter the surface of the glass plate, they will be reflected back to the sensors. By calculating the time difference between the emission and reception of the laser beams, the automated storage and retrieval system can obtain the distances from each surface of the glass plate to the sensors, thereby determining the relative position coordinates of the glass plate in the handling device. Through the combined action of multiple laser sensors at different angles, the automated storage and retrieval system can obtain the complete three-dimensional spatial information (such as length, width, height, etc.) of the glass plate and obtain the second spatial boundary information.

[0095] S209. Determine the total spatial boundary of the handling device in a stationary state based on the first spatial boundary information and the second spatial boundary information.

[0096] When the automated storage and retrieval system obtains the spatial boundary information of the handling device and the glass plate, it can thereby determine the total space occupancy of the handling device in a stationary state. Specifically, the automated storage and retrieval system takes the first spatial boundary information (i.e., the boundary of the handling device itself) as a reference, and then superimposes the second spatial boundary information (i.e., the boundary of the glass plate) on it. The geometric union of the two constitutes the total boundary of the handling device.

[0097] In the above embodiment, before vibration monitoring, by obtaining the spatial boundary information of the handling device, the automated storage and retrieval system can accurately master the spatial position relationship between the handling device and the glass plate. Such spatial management ensures the high precision and safety of the handling process and reduces the wear caused by collisions.

[0098] S210. After detecting that the handling rack starts to move, obtain the real-time position information of each handling device.

[0099] Specifically, a high-precision position tracking device is installed on each handling device, including but not limited to GPS, ultra-wideband positioning, or vision positioning systems, etc. When the handling device is started, these positioning devices begin to continuously collect the position data of the device, usually including information such as its three-dimensional spatial coordinates and attitude angles.

[0100] S211. Determine the real-time total spatial boundary of the handling device in the moving state based on the position information and the total spatial boundary of the handling device in the stationary state.

[0101] Based on the real-time position information of the handling device, the automated warehousing system can further calculate its real-time total spatial boundary in the moving state. Specifically, the automated warehousing system generates a boundary model based on the total spatial boundary of the handling device obtained in step S209 when it is stationary. Then, the automated warehousing system obtains the current position coordinates and attitude angles of the handling device in real time, and uses them as transformation parameters to perform geometric transformation on the boundary model. Through operations such as translation and rotation, the automated warehousing system reconstructs the real-time boundary model of the handling device in the warehousing coordinate system. This model has the same shape as the initial static boundary, but its position and angle change dynamically following the movement of the handling device.

[0102] S212. If it is detected that the distance between the real-time total spatial boundaries corresponding to two adjacent handling devices is less than the preset safety threshold, adjust the paths of the two handling devices respectively.

[0103] Specifically, the automated warehousing system combines all the running handling devices in pairs and calculates the minimum distance between their real-time boundaries. The distance calculation can be based on the geometric relationship of the boundary envelope, such as taking the Euclidean distance between the nearest point pairs, etc. When the calculated minimum distance is lower than the preset threshold, it is determined that there is a collision risk, and the path adjustment process is immediately started.

[0104] Furthermore, the automated warehousing system controls the two handling devices at risk of collision to perform avoidance movements in opposite directions respectively through instructions until the distance between their boundaries is greater than the safety threshold again. For example, let the device with a higher speed decelerate, let the device in the front position turn, and at the same time ensure that the adjusted path is still within their respective drivable areas, etc., which are not limited here.

[0105] In the above embodiment, the automated warehousing system maximizes the handling efficiency and minimizes the collision risk by monitoring the real-time spatial boundaries of the handling devices and dynamically adjusting the paths of the handling devices. Furthermore, the occurrence of collision wear or damage is reduced.

[0106] S213. Immediately stop the operation of placing the glass plate and send the first pressure data to the terminal device.

[0107] During the placement process of the glass plate, if the automated storage and retrieval system detects that the first pressure data at the support point exceeds the first pressure threshold, it is determined that the placement process is abnormal and there is a risk of breakage. At this time, the automated storage and retrieval system immediately takes protective measures, stops the placement of the glass plate by emergency braking, and prevents further damage. Meanwhile, to facilitate on-site operators to promptly understand and handle the abnormal situation, the automated storage and retrieval system sends the pressure data of the faulty equipment to a terminal display device, such as an industrial control tablet computer, etc., to issue a risk warning to relevant personnel.

[0108] Specifically, in one embodiment, the automated storage and retrieval system sends an emergency stop instruction to the robotic arm that performs the placement action. After receiving the instruction, the robotic arm quickly locks its current position and stops all movements. At the same time, the vacuum suction cups at the support point positions also remain in the activated state, stably adsorbing the glass plate to prevent it from slipping. Through this emergency handling, the improper stress situation of the glass plate is promptly controlled, and the risk of breakage is significantly reduced.

[0109] In the above embodiment, when the pressure exceeds the threshold, the automated storage and retrieval system immediately stops the handling operation and sends the data to the terminal device, which enhances the system's rapid response ability to abnormal situations, thereby avoiding potential safety risks and damage to the glass plate.

[0110] The automated storage and retrieval system of the embodiment of the present invention is applied to an electronic device. Figure 3 The schematic diagram of the architecture of the electronic device suitable for implementing the embodiment of the present invention is shown.

[0111] It should be noted that Figure 3 The shown electronic device is only an example and should not impose any limitation on the functions and usage scope of the embodiment of the present invention.

[0112] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions (computer programs), or the relevant hardware can be controlled by instructions (computer programs). The instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. The electronic device of this embodiment includes a storage medium and a processor. Among them, multiple instructions are stored in the storage medium, and these instructions can be loaded by the processor to execute any step of the method provided by the embodiment of the present invention.

[0113] Specifically, the storage medium and the processor are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more signal lines. The storage medium stores computer-executable instructions for implementing the data access control method, including at least one software function module that can be stored in the storage medium in the form of software or firmware. The processor executes various functional applications and data processing by running the software programs and modules stored in the storage medium. The storage medium can be, but is not limited to, a random access storage medium (Random Access Memory, abbreviated as RAM), a read-only storage medium (Read Only Memory, abbreviated as ROM), a programmable read-only storage medium (Programmable Read-Only Memory, abbreviated as PROM), an erasable read-only storage medium (Erasable Programmable Read-Only Memory, abbreviated as EPROM), an electrically erasable read-only storage medium (Electric Erasable Programmable Read-Only Memory, abbreviated as EEPROM), etc. Among them, the storage medium is used to store the program, and the processor executes the program after receiving the execution instruction.

[0114] Further, the software programs and modules in the above storage medium may further include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide a running environment for other software components. The processor can be an integrated circuit chip with signal processing capabilities. The above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc., which can implement or execute the various methods, steps, and logic flow block diagrams disclosed in this embodiment. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0115] Since the instructions stored in the storage medium can execute the steps in any method provided in the embodiments of the present invention, the beneficial effects of any method provided in the embodiments of the present invention can be achieved. For details, please refer to the previous embodiments and will not be repeated here.

[0116] As described above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. An automated storage method for glass plate processing, applied to an automated storage system, characterized in that: The method comprises: Get the size and type of the glass pane; According to the size and type, the gripping force corresponding to the mechanical arm is matched from a preset database, and the mechanical arm is equipped with a pressure sensor; After detecting that the glass plate contacts multiple supporting points on the transport frame, first pressure data detected at each supporting point is acquired in real time, wherein the supporting points are equipped with pressure sensors and vibration sensors; In the process of placing the glass plate on the transport rack, if it is detected that the first pressure data of each supporting point is always less than or equal to the first pressure threshold, then calculating the pressure difference between different supporting points; If it is detected that the first pressure data of one or more supporting points is greater than the first pressure threshold, immediately stop the placement operation of the glass sheet; and send the first pressure data of the one or more supporting points to a terminal device; After determining the two supporting points where the pressure difference is greater than the second pressure threshold, controlling the glass plate to move toward the supporting point where the pressure difference is smaller, until the pressure difference is less than the second pressure threshold; After detecting that the transport rack starts to move, obtaining the vibration amplitude of the glass plate through a vibration sensor; If it is detected that the vibration amplitude is greater than a preset vibration threshold or the second pressure data is greater than the first pressure threshold, a wear warning is issued, and the second pressure data is the pressure data collected from each supporting point during the movement of the transport rack.

2. The method according to claim 1, characterized in that: After determining the two supporting points where the pressure difference is greater than the second pressure threshold, the step of controlling the glass sheet to move toward the supporting point where the pressure difference is smaller until the pressure difference is less than the second pressure threshold specifically includes: If it is detected that a plurality of the pressure difference values ​​are greater than the second pressure threshold, determining two supporting points with the largest pressure difference values; The glass plate is controlled to move toward the direction of the supporting point with the smaller pressure value until the pressure difference values ​​are all smaller than the second pressure threshold.

3. The method according to claim 1, characterized in that After the glass sheet is detected to contact multiple supporting points on the transport rack, before the step of acquiring first pressure data detected at each supporting point in real time, the method further includes: Real-time detection of warehouse temperature and humidity values; Adjust the temperature and humidity of the warehouse according to the preset standard values.

4. The method according to claim 1, characterized in that: Before the step of obtaining the vibration amplitude of the glass plate through the vibration sensor after detecting that the transport rack starts to move, the method further includes: Acquire first space boundary information of a transport device, wherein the transport device includes a transport rack; Acquiring second spatial boundary information of the glass plate on the handling device by laser ranging technology; The total space boundary of the transport device in a stationary state is determined according to the first space boundary information and the second space boundary information.

5. The method according to claim 1, characterized in that After the step of obtaining the vibration amplitude of the glass plate through a vibration sensor after detecting that the transport rack starts to move, the method further includes: Get real-time location information of each handling equipment; Determining a real-time total spatial boundary of the transport device in a moving state based on the position information and the total spatial boundary of the transport device in a stationary state; If it is detected that the distance between the real-time total space boundaries corresponding to two adjacent transport devices is less than a preset safety threshold, the paths of the two transport devices are adjusted respectively.

6. An automated warehousing system, characterized in that: The automated warehousing system includes: one or more processors and memory; The memory is coupled to the one or more processors, and the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the automated warehousing system to execute the method as described in any one of claims 1-5.

7. A computer-readable storage medium comprising instructions, characterized in that: When the instructions are executed on an automated warehousing system, the automated warehousing system is caused to execute the method as described in any one of claims 1-5.

8. A computer program product, characterized in that When the computer program product is run on an automated warehousing system, the automated warehousing system is caused to execute the method according to any one of claims 1 to 5.

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