A method and system for constructing a pallet sharing pool

Abstract

The present invention relates to a method and system for constructing a pallet sharing pool, belonging to the technical field of shared pallets, and includes: collecting return information of a preset sharing pool; obtaining a pallet retrieval position and a pallet retrieval specification in response to the return information; when the pallet of the pallet retrieval specification is a preset grid type, retrieving a grid specification from the pallet retrieval specification; obtaining a central lifting position through the grid specification, controlling a preset jaw to extend at the central lifting position to hook the pallet and shake it, and collecting scanning information of the pallet; obtaining an abnormal detection quantity through the scanning information; and outputting preset supplementary information in response to the abnormal detection quantity. This application has the effect of improving the efficiency of pallet sharing.

Description

Technical Field

[0001] The present invention relates to the technical field of shared pallets, and in particular to a method and system for constructing a pallet sharing pool. Background Art

[0002] A shared pallet is a pallet that can be recycled among multiple users.

[0003] When sharing pallets, the number of required pallets is applied through the software platform of the shared pallet, and then the location where the pallets need to be shared is set. After the data input is completed, the warehouse storing the pallets receives the corresponding instructions and transports the corresponding number and specifications of pallets to the shared location. When the pallet rental is completed, the pallets are transported from the shared location to the warehouse, and the storage quantity in the warehouse is updated by manually checking the quality of the pallets.

[0004] When manually checking the quality of the pallets, the efficiency of manually detecting the quality of the pallets is low, reducing the efficiency of pallet sharing. Summary of the Invention

[0005] In order to improve the efficiency of pallet sharing, the present invention provides a method and system for constructing a pallet sharing pool.

[0006] In a first aspect, the present invention provides a method for constructing a pallet sharing pool, adopting the following technical solution:

[0007] A method for constructing a pallet sharing pool includes:

[0008] S1: Collect the return information of a preset sharing pool;

[0009] S2: Respond to the return information to obtain the pallet retrieval location and the pallet retrieval specification;

[0010] S3: When the pallet of the pallet retrieval specification is a preset grid type, retrieve the grid specification from the pallet retrieval specification;

[0011] S4: Obtain the central lifting position through the grid specification, control a preset jaw to extend into the central lifting position to hook the pallet and shake it, and collect the scanning information of the pallet;

[0012] S5: Obtain the abnormal detection quantity through the scanning information;

[0013] S6: Respond to the abnormal detection quantity to output a preset supplementary information.

[0014] By adopting the above technical solutions, the pallet retrieval location and the pallet retrieval specification are obtained by analyzing the return information of the shared pool, and the pallet is detected. When the pallet of the pallet retrieval specification is of the grid type, the pallet is shaken by the gripper to output preset supplementary information, so as to be able to detect the crack condition on the grid-type pallet and make a supplement in time, reducing the probability of delaying the time of pallet sharing and improving the efficiency of pallet sharing.

[0015] Optionally, the method for collecting the scanning information of the pallet includes:

[0016] The method for collecting the scanning information of the pallet includes:

[0017] S60: Retrieve the pallet weight value from the pallet retrieval specification;

[0018] S61: Obtain the detection stress and the stress diffusion range through the pallet weight value, the grid specification, and the central lifting position;

[0019] S62: Retrieve the reference detection range from the grid specification;

[0020] S63: Respond to the detection stress and the preset detection direction to obtain the initial shaking angle and the shaking detection angle;

[0021] S64: When the stress diffusion range is smaller than the reference detection range, generate a lifting position through the grid specification, and control the gripper to hook up the pallet with the lifting position;

[0022] S65: Control the gripper to move to the initial shaking angle for pendulum shaking, and collect the angle detection value of the gripper;

[0023] S66: When the angle detection value is consistent with the shaking detection angle, collect the scanning information.

[0024] By adopting the above technical solutions, the initial shaking angle, the shaking detection angle, and the stress diffusion range are obtained by analyzing the pallet retrieval specification, the grid specification, and the central lifting position, the lifting position is obtained by comparing the stress diffusion range with the reference detection range, and the gripper is controlled to hook up the pallet for shaking, so that the grids on the pallet can be affected by stress, improving the accuracy of pallet detection.

[0025] Optionally, the method for verifying the initial shaking angle and the shaking detection angle includes:

[0026] S630: Respond to the lifting position and the detection direction to obtain the marked lifting position and the target lifting position;

[0027] S631: Obtain the marker detection stress based on the marker lifting position and the initial shaking angle;

[0028] S632: Calculate the difference between the detected stress and the marker detection stress as the stress deviation value;

[0029] S633: Update the initial shaking angle based on the stress deviation value;

[0030] S634: Obtain the target acting stress based on the target lifting position and the initial shaking angle;

[0031] S635: Calculate the difference between the target acting stress and the detected stress as the target deviation value;

[0032] S636: Generate a spring retraction distance in response to the target deviation value. When the angle detection value is consistent with the shaking detection angle, control the buffer device preset at the target lifting position to operate at the spring retraction distance.

[0033] By adopting the above technical solution, analyze the lifting position to obtain the marker lifting position and the target lifting position, analyze the marker lifting position detection stress to obtain the stress deviation value and the target deviation value, update the initial shaking angle based on the stress deviation value, and obtain the spring retraction distance through the updated initial shaking angle and the detected stress and control the buffer device to operate, so as to make the stress distribution of the lifting position uniform and improve the accuracy of pallet detection.

[0034] Optionally, the method for obtaining the abnormal detection quantity includes:

[0035] S70: Respond to the scanning information to form a pallet model;

[0036] S71: Obtain the node positions based on the pallet model and the preset grid node features;

[0037] S72: Respond to the detected stress and the lifting position to obtain the reference node offset;

[0038] S73: Obtain the reference node positions based on the pallet retrieval specifications;

[0039] S74: Obtain the offset distance through the reference node positions and the node positions;

[0040] S75: Obtain the wear degree through the offset distance and the reference node offset;

[0041] S76: Use the pallets with a wear degree greater than the preset reference wear degree as marked pallets, and define the quantity of the marked pallets as the abnormal detection quantity.

[0042] By adopting the above technical solution, the offset distance of the pallet grid is obtained through the pallet model and the pallet retrieval specifications, and the reference node offset is obtained by detecting the stress and the lifting position. Then, the abnormal detection quantity is obtained through the offset distance and the reference node offset, so that the range of cracks can be known through the offset of the grid nodes, and the accuracy of the abnormal detection quantity can be improved.

[0043] Optionally, it further includes:

[0044] S640: Respond to the lifting position and the grid specification to obtain the maximum stress range;

[0045] S641: When the maximum stress range is less than the reference detection range, update the lifting position through the central lifting position, and control the jaw to hook the pallet with the updated central lifting position;

[0046] S642: Update the maximum stress range through the updated lifting position;

[0047] S643: Respond to the updated maximum stress range and the reference detection range to obtain the undetected range;

[0048] S644: Respond to the undetected range to generate a torsion angle;

[0049] S645: Respond to the torsion angle to obtain a stress buffer value;

[0050] S646: Generate a marked retraction distance through the stress buffer value;

[0051] S647: Control the buffer device preset at the marked lifting position to operate at the marked retraction distance, and update the spring retraction distance and the pallet model.

[0052] By adopting the above technical solution, when the jaw shakes, the jaw is rotated and shaken at a torsion angle, and the spring retraction distance of the buffer device for adjusting the lifting position is adjusted, so that the stress generated by the shaking of the pallet can be evenly distributed over the reference detection range, thereby improving the accuracy of detecting the wear degree.

[0053] Optionally, the method for obtaining the marked pallet further includes:

[0054] S760: Respond to the detection direction and the lifting position to obtain a detection offset point;

[0055] S761: When the detection offset points are not parallel, respond to the offset distance and the reference node offset to obtain a marked offset point, and define the offset distance of the marked offset point as the marked offset distance;

[0056] S762: Define the mark offset point with the largest numerical mark offset distance as the target offset point;

[0057] S763: Update the degree of wear through the target offset point;

[0058] S764: Define the tray with the updated degree of wear greater than the reference degree of wear as the marked tray.

[0059] By adopting the above technical solution, the mark offset point and the mark offset distance are retrieved by detecting the parallelism of the offset points, and then the offset change amount is calculated. By knowing the marked tray based on the offset change amount and the reference change amount, the crack condition of the position affected by stress transfer can be further detected, improving the accuracy of tray detection.

[0060] Optionally, the method for updating the degree of wear includes:

[0061] S7630: Obtain continuous offset points in response to the target offset point and the detection direction;

[0062] S7631: Obtain continuous change distances in response to the target offset point and each of the continuous offset points;

[0063] S7632: Obtain continuous stress distances in response to the continuous offset points;

[0064] S7633: Generate a reference continuous change distance through the continuous stress distance and the detected stress;

[0065] S7634: Update the degree of wear through the continuous change distance and the reference continuous change distance.

[0066] By adopting the above technical solution, continuous change distances are obtained by analyzing the target offset point and the detection direction, and then a reference continuous change distance is obtained through the continuous stress distance and the detected stress. The new degree of wear is obtained through the comparison between the continuous change distance and the reference continuous change distance to further detect the crack condition of the position affected by stress transfer, improving the accuracy of tray detection.

[0067] Optionally, the method for updating the degree of wear includes:

[0068] S76340: When the continuous change distance is consistent with the reference continuous change distance, obtain the target offset distance in response to the target offset point;

[0069] S76341: Update the degree of wear through the target offset distance;

[0070] S76342: when the continuously changing distance is inconsistent with the reference continuously changing distance, taking the continuously changing distance inconsistent with the reference continuously changing distance as a marked continuous distance;

[0071] S76343: Calculate the difference between the marked continuous distance and the reference continuously changing distance as a distance deviation value;

[0072] S76344: Update the wear degree using the distance deviation value.

[0073] By adopting the above technical solution, the target offset distance and the distance deviation value are obtained by comparing the continuously changing distance with the benchmark continuously changing distance, and the wear degree is then updated by the target offset distance or the distance deviation value to further detect cracks at locations affected by stress transmission, thereby improving the accuracy of pallet detection.

[0074] Optionally, the method of controlling a preset clamping claw to move to a lifting position to extend into the position to hook up the pallet further includes:

[0075] S610: when the clamping jaws complete the shaking detection angle, respond to the shaking initial angle and the weight value of the tray to obtain the shaking impact force;

[0076] S611: Responding to the tray specification to obtain a shaking range;

[0077] S612: Responding to the shaking range to obtain a maximum telescopic distance;

[0078] S613: Responding to the shaking impact force, the preset reference clamping claw magnetic force and the maximum telescopic distance to obtain an auxiliary stopping magnetic force;

[0079] S614: Control the preset telescopic device to operate at the maximum telescopic distance and the auxiliary stop magnetic force to stop the tray from shaking.

[0080] By adopting the above technical solution, the shaking clamp is adsorbed by controlling the telescopic device to the maximum telescopic distance and operating power, so as to quickly stabilize the clamp, facilitate the subsequent pallet inspection, and improve the efficiency of pallet inspection.

[0081] In a second aspect, the present application provides a system for constructing a pallet sharing pool, which adopts the following technical solution:

[0082] A system for constructing a pallet sharing pool, comprising:

[0083] An acquisition module, used to obtain return information;

[0084] A memory, used for storing a method for constructing a pallet sharing pool;

[0085] A processor for loading and executing a program stored in a memory and implementing the program.

[0086] In summary, the present application includes at least one of the following beneficial technical effects:

[0087] 1. By analyzing the return information and the returned information of the shared pool to obtain the tray retrieval position and the tray retrieval specification, and shaking the tray with the gripper to output preset supplementary information, it is possible to detect cracks on the grid-type tray and make timely supplements, reducing the probability of delaying the tray sharing time and improving the efficiency of tray sharing;

[0088] 2. When the gripper shakes, the gripper is rotated and shaken at a torsional angle, and the spring retraction distance of the buffer device for adjusting the lifting position is adjusted, so that the stress generated by the shaking of the tray can be evenly distributed over the reference detection range, thereby improving the accuracy of detecting the wear degree;

[0089] 3. By controlling the telescopic device to adsorb the shaking gripper with the maximum telescopic distance and the operating power, the gripper can be quickly stabilized, facilitating the detection of subsequent trays and improving the efficiency of tray detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 is a flowchart of a method for constructing a tray sharing pool according to an embodiment of the present invention;

[0091] Figure 2 is a schematic diagram showing the gripper lifting the tray at the central lifting position according to an embodiment of the present invention;

[0092] Figure 3 is a flowchart of a method for collecting the scanning information of the tray according to an embodiment of the present invention;

[0093] Figure 4 is a schematic diagram showing the gripper lifting the tray at the lifting position according to an embodiment of the present invention;

[0094] Figure 5 is a flowchart of a method for verifying the initial shaking angle and the shaking detection angle according to an embodiment of the present invention;

[0095] Figure 6 is a flowchart of a method for obtaining the abnormal detection quantity according to an embodiment of the present invention;

[0096] Figure 7 is a flowchart of a method after generating the lifting position according to an embodiment of the present invention;

[0097] Figure 8 is a flowchart of a method for obtaining the marked tray according to an embodiment of the present invention;

[0098] Figure 9The method flow for updating the wear degree according to an embodiment of the present invention Figure One ;

[0099] Figure 10 The method flow for updating the wear degree according to an embodiment of the present invention Figure Two 。

[0100] The names of the parts referred to by the respective numerical labels in the above figures are as follows: 1. Jaw; 2. Buffer device; 3. Spring; 4. Telescopic rod. Detailed implementation manners

[0101] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0102] Refer to Figure 1 and Figure 2 , an embodiment of the present application discloses a method for constructing a pallet sharing pool, including the following steps:

[0103] S1: Collect the return information of a preset sharing pool.

[0104] The sharing pool is a software platform set by those skilled in the art for leasing pallets. The sharing pool includes a platform end, a logistics end, a client end, and a member end (mobile software). The sharing pool includes functions such as pallet management, order management, financial management, customer management, member management, equipment management, system management, report management, and personal settings.

[0105] The return information refers to the order information of the pallets that need to be returned, and the order information that needs to be returned is retrieved from each order in the sharing pool as the return information. The return information includes the leased pallet specifications and the positions of the pallets.

[0106] S2: Respond to the return information to obtain the pallet retrieval position and the pallet retrieval specifications.

[0107] The pallet retrieval position refers to the pallet position of the order of the return information, and the pallet retrieval specifications refer to the pallet size, material, and other specifications of the order of the return information. The pallet retrieval position and the pallet retrieval specifications are retrieved from the return information.

[0108] S3: When the pallet of the pallet retrieval specifications is of a preset grid type, retrieve the grid specifications from the pallet retrieval specifications.

[0109] In this embodiment, the board between grids is called a connecting board. The jaw 1 is a device set by those skilled in the art for extending into the grids of the pallet to hook the connecting board to shake the pallet for detection.

[0110] The clamping jaw 1 is provided with a swing line, and a buffer device 2 is provided on the side of the clamping jaw 1 close to the connecting plate. The buffer device 2 includes a spring 3 and a telescopic rod 4. The spring 3 is sleeved on the telescopic rod 4, and the length of the telescopic rod 4 is changed by an air pump. Buffer devices 2 are also provided on both sides of the clamping jaw 1, and the buffer devices 2 abut against the connecting plates on both sides to output a force for driving the tray to rotate.

[0111] The grid specification refers to the grid size, density, material and other specifications of the tray to be returned. The grid type is the tray type with a hollow grid set by the technician. When the type of the tray retrieved specification is the grid type, it means that the tray can be subjected to crack detection by the clamping jaw 1, and then the grid specification is retrieved from the tray retrieved specification.

[0112] S4: Obtain the central lifting position through the grid specification, control the preset clamping jaw 1 to move to the detection position, extend into the grid at the central lifting position to hook the tray and shake it, and collect the scanning information of the tray.

[0113] The central lifting position refers to the central position of the connecting plate at the center of the tray. The central position of the connecting plate at the grid center is retrieved from the grid specification as the central lifting position. Control the clamping jaw 1 to move to the detection position and extend it at the central lifting position to hook the tray and shake it. The scanning information refers to the parameter information of the scanned and shaken tray. When the clamping jaw 1 shakes, the tray is scanned by an infrared device to obtain the scanning information.

[0114] S5: Obtain the abnormal detection quantity through the scanning information.

[0115] The abnormal detection quantity refers to the number of trays that have abnormalities and cannot be leased continuously. The abnormal detection quantity is obtained by analyzing the scanning information.

[0116] S6: Respond to the abnormal detection quantity to output the preset supplementary information.

[0117] The supplementary information is the information set by the technician for outputting supplementary trays to the shared pool. The supplementary information includes the abnormal detection quantity and specification of the trays that need to be supplemented.

[0118] Refer to Figure 3 And Figure 4 , the method for collecting the scanning information of the tray includes:

[0119] S60: Retrieve the tray weight value from the tray retrieved specification.

[0120] The tray weight value refers to the weight value of the tray to be returned, and the tray weight value is retrieved from the tray retrieved specification.

[0121] S61: Obtain the detection stress and stress diffusion range through the tray weight value, the grid specification and the central lifting position.

[0122] The detected stress refers to the stress exerted by the gripper 1 on the grid, and the stress diffusion range refers to the range where the detected stress diffuses on the tray. The detected stress and the stress diffusion range are matched from a preset stress database based on the tray weight value, the grid specification, and the center lifting position. The stress database stores the stress and the stress diffusion range corresponding to different tray weight values, grid specifications, and lifting positions. The parameters in the stress database are set by those skilled in the art through prior experiments according to the actual situation and will not be elaborated here.

[0123] When the tray swings like a pendulum during natural falling, the tray will generate gravity and dynamic stress on the gripper 1. At this time, the gripper 1 exerts a reaction force on the connecting plate due to the gravity and dynamic stress, and this reaction force serves as the detected stress. In this embodiment, the dynamic stress is the stress generated at the position with the maximum acceleration during the tray swing.

[0124] S62: Retrieve the reference detection range from the grid specification.

[0125] The reference detection range refers to the grid distribution range of the tray to be returned, and the reference detection range is retrieved from the grid specification.

[0126] S63: Respond to the detected stress and the preset detection direction to obtain the initial swing angle and the swing detection angle.

[0127] The detection direction is the direction set by the technician for swinging the tray. The initial swing angle refers to the angle at which the tray starts to fall, and the swing detection angle refers to the angle for collecting scanning information. The initial swing angle and the swing detection angle are matched from the stress database based on the detected stress and the detection direction. The stress database also stores the initial swing angle and the swing detection angle corresponding to different detected stresses and detection directions, which will not be elaborated here.

[0128] In this embodiment, the swing detection angle is the angle between the vertical axis of the tray and the ground.

[0129] S64: When the stress diffusion range is smaller than the reference detection range, generate a lifting position based on the grid specification, and control the gripper 1 to hook up the tray at the lifting position.

[0130] The lifting position refers to the position of the grid where the four grippers 1 hook up the tray. When the stress diffusion range is smaller than the reference detection range, it indicates that the stress cannot be evenly distributed on all grids. Then, analyze the grid specification to obtain the lifting position. The analysis method of the lifting position is common knowledge for those skilled in the art and will not be elaborated here.

[0131] S65: Control the gripper 1 to move to the initial swing angle for pendulum swinging, and collect the angle detection value of the gripper 1.

[0132] The angle detection value refers to the angle between the jaw 1 and the axis perpendicular to the ground, and the parameter detected by the angle sensor preset on the jaw 1 is used as the angle detection value. Control the jaw 1 to move to the initial shaking angle for free pendulum shaking. When the jaw 1 shakes to the shaking detection angle, then execute S6.

[0133] S66: When the angle detection value is consistent with the shaking detection angle, collect the scanning information.

[0134] When the angle detection value is consistent with the shaking detection angle, it means that the stress generated by the jaw 1 on the tray is the largest, then execute S4.

[0135] Refer to Figure 5 , the verification method for the initial shaking angle and the shaking detection angle includes:

[0136] S630: Respond to the lifting position and the detection direction to obtain the marked lifting position and the target lifting position.

[0137] The marked lifting position refers to the two lifting positions away from the detection direction. The lifting position away from the detection direction is retrieved from the lifting positions as the marked lifting position.

[0138] The target lifting position refers to the two lifting positions close to the detection direction. The lifting position close to the detection direction is retrieved from the lifting positions as the target lifting position.

[0139] S631: Obtain the marked detection stress through the marked lifting position and the initial shaking angle.

[0140] The marked detection stress refers to the detection stress of the marked lifting position. The marked detection stress is matched through the marked lifting position and the shaking detection angle and input into the stress database.

[0141] The stress database stores the detected stress corresponding to different lifting positions and the shaking detection angle, as well as the range of stress diffusion, which will not be elaborated here.

[0142] In this embodiment, different lifting positions result in different forces acting on the jaw 1. The stress at the target lifting position is greater than the detection stress, and the stress at the marked detection position is less than the detection stress.

[0143] S632: Calculate the difference between the detection stress and the marked detection stress as the stress deviation value.

[0144] The stress deviation value refers to the deviation value between the detection stress and the marked detection stress, and is calculated by calculating the difference between the detection stress and the marked detection stress.

[0145] S633: Update the initial shaking angle through the stress deviation value.

[0146] Match the supplementary angle from the input value of the stress deviation value in the stress database. Different supplementary angles corresponding to different stress deviation values are stored in the stress database, which will not be elaborated here. Calculate the sum of the supplementary angle and the initial sway angle as the new initial sway angle.

[0147] S634: Obtain the target acting stress based on the target lifting position and the updated initial sway angle.

[0148] The target acting stress refers to the stress at the target lifting position. The detected stress obtained by referring to S631 based on the target lifting position and the updated initial sway angle is used as the target acting stress.

[0149] S635: Calculate the difference between the target acting stress and the detected stress as the target deviation value.

[0150] The target deviation value refers to the deviation value between the target acting stress and the detected stress. Calculate the difference between the target acting stress and the detected stress as the target deviation value.

[0151] S636: Generate a spring retraction distance in response to the target deviation value. When the angle detection value is consistent with the sway detection angle, control the buffer device preset at the target lifting position to operate at the spring retraction distance.

[0152] The spring retraction distance refers to the distance that the spring 3 needs to retract due to the gravity of the buffer tray and the dynamic stress. When the angle detection value is consistent with the sway detection angle, the stress on the grid will reach the target acting stress at this time. Then control the buffer device 2 to reduce the air pressure at the spring retraction distance so that the spring 3 can retract.

[0153] Refer to Figure 6 , the method for obtaining the abnormal detection quantity includes:

[0154] S70: Form a tray model in response to the scanning information.

[0155] The tray model refers to the three-dimensional model of the tray. The tray model is obtained by analyzing the scanning information. The generation method of the tray model is common knowledge for those skilled in the art and will not be elaborated here.

[0156] S71: Obtain the node positions based on the tray model and the preset grid node features.

[0157] The grid node features are the features of the grid nodes on the tray set by the technicians. The node position refers to the position of the grid nodes shown on the tray model. The position of the grid node features is retrieved from the tray model as the node position.

[0158] S72: Obtain the reference node offset in response to the detected stress and the lifting position.

[0159] The reference node offset refers to the distance by which each grid node is offset when the tray on the connecting plate without cracks is subjected to the detected stress at the lifting position. The reference node offset is matched from the preset offset database by inputting the detected stress and the lifting position. The offset database stores the reference node offsets of the tray grid nodes corresponding to different detected stresses and lifting positions. The parameters in the offset database are set by those skilled in the art through prior experiments according to the actual situation and will not be elaborated here.

[0160] S73: Obtain the reference node position according to the tray retrieval specification.

[0161] The reference node position refers to the position of the grid node when the tray is not shaking, and the reference node position is retrieved from the tray retrieval specification.

[0162] S74: Obtain the offset distance through the reference node position and the node position.

[0163] The offset distance refers to the straight-line distance between the reference node position and the node position, and the straight-line distance between the reference node position and the node position is calculated as the offset distance.

[0164] S75: Obtain the wear degree through the offset distance and the reference node offset.

[0165] The wear degree refers to the degree of wear of the tray. Calculate the difference between the offset distance and the reference node offset as the deviation value, and match the wear degree by inputting the deviation value into the preset wear database.

[0166] The wear database stores the wear degrees corresponding to different deviation values. The parameters in the wear database are set by those skilled in the art through prior experiments according to the actual situation and will not be elaborated here.

[0167] S76: Use the tray with a wear degree greater than the preset reference wear degree as a marked tray, and define the number of marked trays as the abnormal detection quantity.

[0168] The reference wear degree is the maximum wear degree that the tray can continue to be used as set by the technician. A marked tray refers to a tray with a wear degree greater than the reference wear degree. Use the tray with a wear degree greater than the reference wear degree as a marked tray, and define the number of marked trays as the abnormal detection quantity.

[0169] Refer to Figure 7 , after generating the lifting position, the method further includes:

[0170] S640: Respond to the lifting position and the grid specification to obtain the maximum stress range.

[0171] The maximum stress range refers to the maximum range of diffusion generated when outputting stress at the lifting position. The maximum stress is retrieved from the grid specifications, and the maximum stress range is obtained by comparing the maximum stress with the reference S631 at the lifting position.

[0172] S641: When the maximum stress range is less than the reference detection range, update the lifting position through the central lifting position, and control the gripper 1 to hook the tray at the updated central lifting position.

[0173] When the maximum stress range is less than the reference detection range, it indicates that the stress range generated by the four grippers 1 has not covered the area from the center of the grid to the edge of the grid. Then, a new lifting position is obtained based on the central lifting position, and the gripper 1 is controlled to hook the tray at the updated central lifting position. The updated lifting positions are still symmetric to each other.

[0174] S642: Update the maximum stress range through the updated lifting position.

[0175] Update the maximum stress range through the updated lifting position. In this embodiment, the updated maximum stress range includes the center of the grid.

[0176] S643: Obtain the undetected range in response to the updated maximum stress range and the reference detection range.

[0177] The undetected range refers to the area on the grid that is not covered by stress. The non - overlapping range between the updated maximum stress range and the reference detection range is taken as the undetected range.

[0178] S644: Generate a torsion angle in response to the undetected range.

[0179] The torsion angle refers to the angle by which the tray twists around its vertical axis during the shaking process. The torsion angle is obtained by inputting the undetected range into a preset torsion database for matching. The larger the torsion angle, the greater the diffused stress, the larger the stress diffusion range along the direction of the torsion angle, and the greater the stress at the position of the gripper 1. Different undetected ranges and their corresponding torsion angles are stored in the torsion database. The parameters in the torsion database are set by those skilled in the art through prior experiments according to the actual situation and will not be elaborated here.

[0180] S645: Obtain a stress buffer value in response to the torsion angle.

[0181] The stress buffer value refers to the buffer force required at the lifting position when the tray twists at the torsion angle during the shaking process. The stress buffer value is obtained by inputting the torsion angle into the stress database for matching. Different torsion angles and their corresponding stress buffer values are also stored in the stress database and will not be elaborated here.

[0182] S646: Generate a marked retraction distance through the stress buffer value.

[0183] The marking retraction distance is the distance that the buffer tray of the spring 3 at the marking lifting position needs to retract due to the composite stress, and the spring retraction distance obtained by referring to S636 based on the stress buffer value is used as the marking retraction distance.

[0184] S647: Control the buffer device 2 preset at the marking lifting position to operate at the marking retraction distance, and update the spring retraction distance and the tray model.

[0185] Control the buffer device 2 at the marking lifting position to operate at the marking retraction distance, and use the sum of the retraction distances obtained by calculating the spring retraction distance and the stress buffer value as the new spring retraction distance, and regenerate the tray model.

[0186] Refer to Figure 8 , and the method for obtaining the marking tray further includes:

[0187] S760: Respond to the detection direction and the lifting position to obtain the detection offset point.

[0188] The acting axis of the jaw 1 refers to the axis formed by the midpoint of the jaw 1 on the connecting plate in the detection direction. The detection offset points are all the grid nodes on both sides of the acting axis of the jaw 1. The lifting positions are symmetric in pairs with the detection direction as the center. Then there are two acting axes of the jaw 1 in the detection direction, and all the grid nodes on both sides of the two acting axes of the jaw 1 are used as the detection offset points.

[0189] S761: When the detection offset points are not parallel, respond to the offset distance and the reference node offset amount to obtain the marking offset point, and define the offset distance of the marking offset point as the marking offset distance.

[0190] The marking offset point refers to the detection offset point where the offset distance is inconsistent with the reference node offset amount. The marking offset distance refers to the offset distance of the marking offset point. When the detection offset points are not parallel, it indicates that there are cracks in the connecting plate between the detection offset points or in the connecting plate in the direction perpendicular to the acting axis of the jaw 1. Then, the detection offset point where the offset distance is inconsistent with the reference node offset amount is defined as the marking offset point, and the offset distance of the marking offset point is used as the marking offset distance.

[0191] S762: Define the marking offset point with the largest marking offset distance as the target offset point.

[0192] The target offset point refers to the marking offset point corresponding to the largest marking offset distance, and the marking offset point corresponding to the largest marking offset distance is obtained by extracting from each marking offset distance as the target offset point.

[0193] S763: Update the wear level through the target offset point.

[0194] Analyze the target offset point to obtain the new wear degree.

[0195] S764: Define the pallet with the updated wear degree greater than the reference wear degree as the marked pallet.

[0196] Define the pallet with the updated wear degree greater than the reference wear degree as the marked pallet.

[0197] Refer to Figure 9 , the method for updating the wear degree includes:

[0198] S7630: Respond to the target offset point and the detection direction to obtain the continuous offset points.

[0199] The continuous offset points refer to the grid nodes connected perpendicular to the detection direction towards the target offset point. Take the grid nodes connected perpendicular to the detection direction towards the target offset point as the continuous offset points.

[0200] S7631: Respond to the target offset point and each continuous offset point to obtain the continuous change distance.

[0201] The continuous change distance refers to the distance values between each point of the target offset point and the continuous offset points. By calculating the gap distance between the target offset point and the continuous offset points, and then calculating the gap distances between each continuous offset point, take each gap distance as the continuous change distance.

[0202] S7632: Respond to the continuous offset points to obtain the continuous stress distance.

[0203] The continuous stress distance refers to the gap distance between the continuous offset points when they are not offset. Retrieve the reference node positions of the continuous offset points from the reference node positions, and take the gap between the retrieved node positions as the continuous stress distance.

[0204] S7633: Generate the reference continuous change distance through the continuous stress distance and the detection stress.

[0205] The reference continuous change distance refers to the gap distance between the continuous offset points when stressed. Input the continuous stress distance and the detection stress into the stress database to match the reference continuous change distance. The stress database also stores the reference continuous change distances corresponding to different grid nodes when the detection stress is output at the lifting position, which will not be elaborated here.

[0206] S7634: Update the wear degree through the continuous change distance and the reference continuous change distance.

[0207] Analyze the continuous change distance and the reference continuous change distance to obtain the new wear degree.

[0208] Refer toFigure 10 , the method for updating the wear degree includes:

[0209] S76340: When the continuous change distance is consistent with the reference continuous change distance, respond to the target offset point to obtain the target offset distance.

[0210] The target offset distance refers to the offset distance of the target offset point. When the continuous change distance is consistent with the reference continuous change distance, it indicates that there is a crack in the connecting plate between the detected offset points. Then, the offset distance of the target offset point is used as the target offset distance.

[0211] S76341: Update the wear degree based on the target offset distance.

[0212] The target crack range refers to the range where there is a crack in the connecting plate between the detected offset points. By inputting the target offset distance into the wear database to match the new wear degree, the wear database also stores the wear degrees corresponding to different offset distances, which will not be elaborated here.

[0213] S76342: When the continuous change distance is inconsistent with the reference continuous change distance, use the continuous change distance that is inconsistent with the reference continuous change distance as the marked continuous distance.

[0214] The marked continuous distance refers to the continuous change distance that is inconsistent with the reference continuous change distance. When the continuous change distance is inconsistent with the reference continuous change distance, it indicates that there is a crack in the connecting plate in the direction perpendicular to the axis of the clamping jaw 1 of the detected offset points. Then, the continuous change distance that is inconsistent with the reference continuous change distance is used as the marked continuous distance.

[0215] S76343: Calculate the difference between the marked continuous distance and the reference continuous change distance as the distance deviation value.

[0216] The distance deviation value refers to the deviation value between the marked continuous distance and the corresponding reference continuous change distance. Calculate the difference between the marked continuous distance and the corresponding reference continuous change distance as the distance deviation value.

[0217] S76344: Update the wear degree based on the distance deviation value.

[0218] Refer to S76341 based on the distance deviation value to obtain the new wear degree.

[0219] The method for controlling the preset clamping jaw 1 to move to the lifting position and extend to hook the tray also includes:

[0220] S610: When the angle detection value exceeds the shaking detection angle, respond to the initial shaking angle and the tray weight value to obtain the shaking impact force.

[0221] The sway impact force refers to the impact force corresponding to the sway of the tray completing one pendulum cycle. When the angle detection value exceeds the sway detection angle, it indicates that the detection of the tray is completed, and then the sway impact force is matched by inputting the initial sway angle and the tray weight value into a preset sway database.

[0222] The sway database stores the impact forces corresponding to different initial sway angles and tray weight values after swaying to the sway detection angle in one pendulum cycle. The parameters in the sway database are set by those skilled in the art through prior experiments according to the actual situation, which will not be elaborated here.

[0223] S611: Respond to the tray specification to obtain the sway range.

[0224] The sway range refers to the maximum range that the tray passes through when the gripper 1 hooks the tray and sways. The sway range is obtained by analyzing the tray specification, which is common knowledge for those skilled in the art and will not be elaborated here.

[0225] S612: Respond to the sway range to obtain the maximum telescopic distance.

[0226] The telescopic device refers to a device that can telescope and adsorb the gripper 1 by magnetic force to assist the tray to stop swaying. A permanent magnet is provided on the gripper 1. The maximum telescopic distance refers to the maximum distance that the telescopic device can telescope. The maximum telescopic distance is obtained by analyzing the sway range, which refers to the maximum distance corresponding to when the axis of the gripper 1 is parallel to the telescopic device. The analysis method of the maximum telescopic distance is common knowledge for those skilled in the art and will not be elaborated here.

[0227] S613: Respond to the sway impact force, the preset reference gripper magnetic force, and the maximum telescopic distance to obtain the auxiliary staying magnetic force.

[0228] The reference gripper magnetic force is the magnetic force of the permanent magnet on the gripper 1 set by the technician. The auxiliary staying magnetic force refers to the magnetic force output by the telescopic device. The auxiliary staying magnetic force is matched by inputting the sway impact force, the reference gripper magnetic force, and the maximum telescopic distance into a preset magnetic force database.

[0229] The magnetic force database stores the auxiliary staying magnetic forces corresponding to different sway impact forces, reference gripper magnetic forces, and maximum telescopic distances. The parameters in the magnetic force database are set by those skilled in the art through prior experiments according to the actual situation, which will not be elaborated here.

[0230] S614: Control the preset telescopic device to operate at the maximum telescopic distance and the auxiliary staying magnetic force to stop the tray from swaying.

[0231] When the tray completes the sway detection angle, control the telescopic device to operate at the maximum telescopic distance and the auxiliary staying magnetic force to assist the tray to stop swaying.

[0232] Based on the same inventive concept, an embodiment of the present invention provides a construction system for a pallet sharing pool, including:

[0233] An acquisition module, configured to acquire return information, scanning information, and angle detection values;

[0234] A memory, configured to store a construction method for a pallet sharing pool;

[0235] A processor, configured to load and execute the program stored in the memory.

[0236] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the system, device, and unit described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0237] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions falling within the inventive concept of the present invention belong to the protection scope of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements should also be regarded as within the protection scope of the present invention.

Claims

1. A method for constructing a pallet sharing pool, characterized in that Including: S1: Collect the return information of a preset shared pool; S2: Respond to the return information to obtain the tray retrieval position and tray retrieval specifications; S3: When the tray of the tray retrieval specifications is of a preset grid type, retrieve the grid specifications from the tray retrieval specifications; S4: Obtain the center lifting position through the grid specifications, control a preset gripper to extend at the center lifting position to hook the tray and shake it, and collect the scanning information of the tray; The method for collecting the scanning information of the tray includes: S60: Retrieve the tray weight value from the tray retrieval specifications; S61: Obtain the detection stress and stress diffusion range through the tray weight value, the grid specifications, and the center lifting position; S62: Retrieve the reference detection range from the grid specifications; S63: Respond to the detection stress and a preset detection direction to obtain the initial shaking angle and the shaking detection angle; S64: When the stress diffusion range is less than the reference detection range, generate a lifting position through the grid specifications, and control the gripper to hook the tray at the lifting position; S65: Control the gripper to move to the initial shaking angle for pendulum shaking, and collect the angle detection value of the gripper; S66: When the angle detection value is consistent with the shaking detection angle, collect the scanning information; The verification method for the initial shaking angle and the shaking detection angle includes: S630: Respond to the lifting position and the detection direction to obtain the marked lifting position and the target lifting position; S631: Obtain the marked detection stress through the marked lifting position and the initial shaking angle; S632: Calculate the difference between the detection stress and the marked detection stress as the stress deviation value; S633: Update the initial shaking angle through the stress deviation value; S634: Obtain the target acting stress through the target lifting position and the initial shaking angle; S635: Calculate the difference between the target acting stress and the detection stress as the target deviation value; S636: Respond to the target deviation value to generate the spring retraction distance. When the angle detection value is consistent with the shaking detection angle, control a buffer device preset at the target lifting position to operate at the spring retraction distance; S5: Obtain the abnormal detection quantity through the scanning information; The method for obtaining the abnormal detection quantity includes: S70: Respond to the scanning information to form a tray model; S71: Obtain the node positions based on the tray model and preset grid node features; S72: Respond to the detection stress and the lifting position to obtain the reference node offset; S73: Obtain the reference node positions according to the tray retrieval specifications; S74: Obtain the offset distance through the reference node positions and the node positions; S75: Obtain the wear degree through the offset distance and the reference node offset; S76: Use the trays with a wear degree greater than a preset reference wear degree as marked trays, and define the number of the marked trays as the abnormal detection quantity; The method for obtaining the marked trays further includes: S760: Respond to the detection direction and the lifting position to obtain a detection offset point; S761: When the detection offset points are not parallel, respond to the offset distance and the reference node offset amount to obtain a marked offset point, and define the offset distance of the marked offset point as the marked offset distance; S762: Define the marked offset point with the largest marked offset distance as the target offset point; S763: Update the wear level through the target offset point; S764: Define the tray with the updated wear level greater than the reference wear level as the marked tray; S6: Respond to the abnormal detection quantity to output preset supplementary information.

2. The construction method of a pallet sharing pool according to claim 1, characterized in that, It further includes: S640: Respond to the lifting position and the grid specification to obtain the maximum stress range; S641: When the maximum stress range is less than the reference detection range, update the lifting position through the central lifting position, and control the jaw to hook the tray with the updated central lifting position; S642: Update the maximum stress range through the updated lifting position; S643: Respond to the updated maximum stress range and the reference detection range to obtain the undetected range; S644: Respond to the undetected range to generate a torsion angle; S645: Respond to the torsion angle to obtain a stress buffer value; S646: Generate a marked retraction distance through the stress buffer value; S647: Control the buffer device preset at the marked lifting position to operate at the marked retraction distance, and update the spring retraction distance and the tray model.

3. The construction method of a pallet sharing pool according to claim 1, characterized in that, The method for updating the wear level includes: S7630: Respond to the target offset point and the detection direction to obtain continuous offset points; S7631: Respond to the target offset point and each of the continuous offset points to obtain continuous change distances; S7632: Respond to the continuous offset points to obtain continuous stress distances; S7633: Generate a reference continuous change distance through the continuous stress distance and the detection stress; S7634: Update the wear level through the continuous change distance and the reference continuous change distance.

4. The construction method of a pallet sharing pool according to claim 3, characterized in that The method for updating the wear level includes: S76340: When the continuous change distance is consistent with the reference continuous change distance, respond to the target offset point to obtain a target offset distance; S76341: Update the wear level through the target offset distance; S76342: When the continuous change distance is inconsistent with the reference continuous change distance, use the continuous change distance inconsistent with the reference continuous change distance as the marked continuous distance; S76343: Calculate the difference between the marked continuous distance and the reference continuous change distance as the distance deviation value; S76344: Update the wear level through the distance deviation value.

5. A method for constructing a pallet sharing pool according to claim 1, characterized in that The method for controlling the preset jaw to move to the lifting position and extend to hook the tray further includes: S610: When the angle detection value exceeds the shaking detection angle, respond to the initial shaking angle and the tray weight value to obtain a shaking impact force; S611: Obtain a wobbling range in response to the tray specification; S612: Obtain the maximum telescopic distance in response to the wobbling range; S613: Obtain an auxiliary staying magnetic force in response to the wobbling impact force, a preset reference jaw magnetic force, and the maximum telescopic distance; S614: Control a preset telescopic device to operate at the maximum telescopic distance and the auxiliary staying magnetic force to stop the wobbling of the tray.

6. A construction system for a pallet sharing pool, characterized in that, Comprising: An obtaining module, configured to obtain return information; A memory, configured to store a method for constructing a tray sharing pool according to any one of claims 1 to 5; A processor, configured to load and execute and implement the program stored in the memory.

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