Waste residue transfer method, device and system, storage medium and computer program product

Abstract

The embodiment of the invention provides a waste residue transfer method, device and system, a storage medium and a computer program product. Comprising the following steps: controlling a first robot to transport a first waste residue frame to a waste residue blanking area; in the operation process of the production line, the weight of the waste residues in the first waste residue frame is obtained; when the waste residue weight reaches the first weight, the second robot is controlled to carry a second waste residue frame to move from the waste residue treatment area to the waste residue blanking area; periodically predicting the time required for the waste residue weight to reach the second weight from the current weight according to the waste residue weight so as to judge whether the second robot can reach the waste residue blanking area from the current position within the required time or not; when arriving, the second robot is controlled to move to the waiting area; when the waste residue weight reaches the second weight, the production line is controlled to be paused; controlling the first robot to transport the first waste residue frame to a waste residue treatment area; the second robot is controlled to transport the second waste residue frame to a discharging point of the waste residue discharging area; and controlling the production line to recover.

Description

Technical Field

[0001] The present application relates to the technical field of manufacturing, and in particular, to a method, device, system, storage medium, and computer program product for transferring waste residue. Background Art

[0002] During the workshop manufacturing process, waste residue is continuously generated on the production line. The waste residue generated by the production line needs to be received by a dedicated waste residue bin. When the receiving bin in the waste residue dropping area is full, another empty bin is required for continuous connection.

[0003] In the prior art, when the waste residue in the waste residue bin reaches the maximum load threshold of the waste residue bin, if the continuous connection bin cannot be sent to the production line in time, the production line will be forced to stop production and wait for the continuous connection bin to arrive before resuming work. If manual workers wait in advance on the production line, they need to manually estimate the waste residue receiving situation of the waste residue bin and ensure that the continuous connection bin can be delivered on time, which requires high manual experience. This traditional method of receiving and continuously connecting waste residue has problems such as low distribution efficiency, poor container transfer connection, waste of human resources, and slow information transmission between the production line and the distribution department, and cannot meet the high-efficiency production requirements of enterprises. Summary of the Invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, system, and storage medium for transferring waste residue to solve the technical defect of low waste residue distribution efficiency caused by manually estimating the waste residue receiving situation of the waste residue bin to control the robot for waste residue receiving and continuous connection in the prior art.

[0005] To achieve the above purpose, the first aspect of the present application provides a method for transferring waste residue, which is applied to a waste residue transfer system. The waste residue transfer system includes a first robot, a second robot, and a production line. The production line is provided with a waste residue dropping area. The method for transferring waste residue includes:

[0006] Controlling the first robot to transport the first waste residue bin to the waste residue dropping area;

[0007] During the operation of the production line, obtaining the waste residue weight of the waste residue in the first waste residue bin;

[0008] When the waste residue weight reaches the first weight, controlling the second robot to carry the second waste residue bin and move from the waste residue treatment area to the waste residue dropping area;

[0009] Periodically predicting the time required for the waste residue weight to reach the second weight from the current weight according to the waste residue weight;

[0010] Judging whether the second robot can reach the waste residue dropping area from the current position within the required time according to the moving speed of the second robot and the required time;

[0011] When it is determined that the second robot can reach the waste residue dropping area from the current position within the required time, control the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area;

[0012] When the weight of the waste residue reaches the second weight, control the production line to pause;

[0013] Control the first robot to transport the first waste residue box to the waste residue treatment area;

[0014] Control the second robot to transport the second waste residue box to the dropping point of the waste residue dropping area;

[0015] Control the production line to resume operation.

[0016] In the embodiment of the present application, the waste residue transfer method further includes: during the process of controlling the second robot to move to the waiting area, when it is determined according to the moving speed and required time of the second robot that the second robot cannot reach the waste residue dropping area from the current position within the required time, switch the destination of the second robot from the waiting area to the waste residue dropping area.

[0017] In the embodiment of the present application, when it is determined that the second robot can reach the waste residue dropping area from the current position within the required time, controlling the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area includes: when it is determined that the second robot can reach the waste residue dropping area from the current position within the required time, generate a first distribution instruction; issue the first distribution instruction to the second robot to control the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area; controlling the first robot to transport the first waste residue box to the waste residue treatment area includes: when the production line is paused, generate a second distribution instruction; issue the second distribution instruction to the first robot to control the first robot to transport the first waste residue box to the waste residue treatment area.

[0018] In an embodiment of the present application, the first delivery instruction carries the current status information and current location information of the first robot, and the second delivery instruction carries the current status information and current location information of the second robot. Sending the first delivery instruction to the second robot to control the second robot to move to the waiting area between the waste treatment area and the waste dropping area includes: sending the first delivery instruction to the second robot; the second robot determines whether to respond to the first delivery instruction according to the current status information and current location information of the first robot; when the second robot determines to respond to the first delivery instruction according to the current status information and current location information of the first robot, controlling the second robot to move to the waiting area between the waste treatment area and the waste dropping area; sending the second delivery instruction to the first robot to control the first robot to transport the first waste bin to the waste treatment area includes: sending the second delivery instruction to the first robot; the first robot determines whether to respond to the second delivery instruction according to the current status information and current location information of the second robot; when the first robot determines to respond to the second delivery instruction according to the current status information and current location information of the second robot, controlling the first robot to transport the first waste bin to the waste treatment area.

[0019] In an embodiment of the present application, the waste transfer method further includes: when it is detected that the weight of the dropping point in the waste dropping area is greater than the third weight, determining that the second waste bin reaches the dropping point.

[0020] In an embodiment of the present application, the second weight is less than the waste load threshold of the first waste bin and the second waste bin.

[0021] In an embodiment of the present application, the waste transfer system further includes a weight sensing device installed at the dropping point of the waste dropping area, and the waste transfer method further includes: collecting the waste weight of the waste in the waste bin located at the dropping point through the weight sensing device.

[0022] The second aspect of the present application provides a waste transfer device, including:

[0023] A memory configured to store instructions;

[0024] A controller configured to call the instructions from the memory and be able to implement the above waste transfer method when executing the instructions.

[0025] The third aspect of the present application provides a waste transfer system, including:

[0026] A first robot;

[0027] A second robot;

[0028] A production line provided with a waste dropping area, and the waste dropping area includes a dropping point;

[0029] The above-mentioned waste residue transfer device.

[0030] In a fourth aspect of the present application, a machine-readable storage medium is provided. Instructions are stored on the machine-readable storage medium, and when the instructions are executed by a controller, the controller is configured to execute the above-mentioned waste residue transfer method.

[0031] In the above technical solution, the first robot is controlled to transport the first waste residue box to the waste residue dropping area; during the operation of the production line, the waste residue weight of the waste residue in the first waste residue box is obtained; when the waste residue weight reaches the first weight, the second robot is controlled to carry the second waste residue box and move from the waste residue treatment area to the waste residue dropping area; the time required for the waste residue weight to reach the second weight from the current weight is predicted periodically according to the waste residue weight; it is judged whether the second robot can reach the waste residue dropping area from the current position within the required time according to the moving speed of the second robot and the required time; when it is judged that the second robot can reach the waste residue dropping area from the current position within the required time, the second robot is controlled to move to the waiting area between the waste residue treatment area and the waste residue dropping area; when the waste residue weight reaches the second weight, the production line is controlled to pause; the first robot is controlled to transport the first waste residue box to the waste residue treatment area; the second robot is controlled to transport the second waste residue box to the dropping point of the waste residue dropping area; the production line is controlled to resume operation. By automatically predicting the waste residue receiving situation of the waste residue box, this method realizes the automatic connection of the robot and the automatic start and stop of the production line, and effectively improves the distribution efficiency of the waste residue.

[0032] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation part. Description of the Drawings

[0033] The drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification. Together with the following specific implementation, they are used to explain the embodiments of the present application, but do not constitute a limitation to the embodiments of the present application. In the drawings:

[0034] Figure 1 Schematically shows a schematic diagram of the application environment of a waste residue transfer method according to an embodiment of the present application;

[0035] Figure 2 Schematically shows a flowchart of a waste residue transfer method according to an embodiment of the present application;

[0036] Figure 3 Schematically shows an internal structure diagram of a computer device according to an embodiment of the present application. Specific Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. It should be understood that the specific embodiments described herein are only for explaining and interpreting the embodiments of this application, and are not used to limit the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0038] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of this application, such directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, the directional indications will also change accordingly.

[0039] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of this application, such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their 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 at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0040] A waste residue transfer method provided by this application can be applied to an application environment as Figure 1 shown. As Figure 1 shown, a waste residue transfer system is provided. The waste residue transfer system may include a first robot, a second robot, and a production line. The production line is provided with a waste residue dropping area, the waste residue dropping area is provided with a dropping point, and a weight sensing device is installed at the dropping point. The first robot and the second robot can be used to transport waste residue frames. The waste residue generated by the production line drops from the waste residue dropping area, and the waste residue frame needs to be placed at the dropping point to receive the waste residue. The weight sensing device can collect the weight of the waste residue in the waste residue frame at the dropping point.

[0041] Figure 2 A schematic flowchart of a waste residue transfer method according to an embodiment of this application is schematically shown. As Figure 2 shown, an embodiment of this application provides a waste residue transfer method that can be applied to a waste residue transfer system. The waste residue transfer method may include the following steps:

[0042] Step 201, control the first robot to transport the first waste residue frame to the waste residue dropping area.

[0043] In the embodiments of the present application, it should be noted that the first robot and the second robot may refer to AGVs that support the handling of containers of various sizes and models. Before the production line is started, the controller can issue an instruction to the first robot to control the first robot to transport the first waste residue box to the waste residue dropping area, so as to receive the waste residue generated by the production line after the production line runs.

[0044] Step 202, during the operation of the production line, obtain the waste residue weight of the waste residue in the first waste residue box.

[0045] In the embodiments of the present application, it should be noted that after the controller controls the first robot to transport the first waste residue box to the waste residue dropping area, it can further determine whether to start the production line by obtaining the weight of the dropping point. After controlling the production line to start, during the operation of the production line, the controller can obtain the waste residue weight of the waste residue in the first waste residue box in real time.

[0046] In the embodiments of the present application, the waste residue transfer system further includes a weight sensing device installed at the dropping point of the waste residue dropping area, and the waste residue transfer method further includes: collecting the waste residue weight of the waste residue in the waste residue box located at the dropping point through the weight sensing device.

[0047] In this embodiment, it should be noted that a weight sensing device is installed at the dropping point of the waste residue dropping area, and the weight of the dropping point can be collected in real time through the weight sensing device. This weight should be the total weight of the waste residue box and the waste residue in the waste residue box located at the dropping point. For example, assuming that the net weight of the waste residue box is G0, if the weight of the dropping point is G, then the waste residue weight of the waste residue in the waste residue box should be G - G0.

[0048] Step 203, when the waste residue weight reaches the first weight, control the second robot to carry the second waste residue box and move from the waste residue treatment area to the waste residue dropping area.

[0049] In the embodiments of the present application, it should be noted that the first weight can be set according to actual requirements and empirical values. For example, in this technical solution, the first weight can be set to the minimum load weight Gmin of the waste residue box. After the controller obtains through the weight sensing device installed at the dropping point of the waste residue dropping area that the waste residue weight of the waste residue in the first waste residue box reaches the minimum load weight Gmin of the waste residue box, at this time, an instruction can be issued to the second robot to control the second robot to reach the waste residue treatment area to carry the second waste residue box and move from the waste residue treatment area to the waste residue dropping area.

[0050] Step 204, periodically predict the time required for the waste residue weight to reach the second weight from the current weight according to the waste residue weight.

[0051] In the embodiments of the present application, it should be noted that the time required for the weight of the second weight waste residue to reach the second weight from the current weight. For example, in the present technical solution, the second weight can be set to the maximum load Gmax of the waste residue bin. After the controller obtains the waste residue weight in the first waste residue bin in real time through the weight sensing device installed at the material dropping point in the waste residue dropping area, it can further predict the time required for the waste residue weight in the first waste residue bin to reach the second weight from the current weight periodically. In the present technical solution, since the waste residue generated by the production line does not necessarily drop at a constant rate, the time required for the waste residue weight in the first waste residue bin to reach the second weight from the current weight can be predicted periodically by a set integral formula.

[0052] In the embodiments of the present application, the second weight is less than the waste residue load threshold of the first waste residue bin and the second waste residue bin.

[0053] In this embodiment, it should be noted that the production line also requires a reaction time to respond to the start and stop of the controller, and there will still be waste residue dropping at the material dropping point in the waste residue dropping area during this reaction time. Therefore, in order to avoid waste residue from falling outside the waste residue bin as much as possible, the second weight, that is, the maximum load Gmax of the waste residue bin, can be set smaller than the actual waste residue load threshold of the waste residue bin. This is because the distribution of the waste residue bin needs to wait for the robot to arrive before it can be executed, and it takes a certain amount of time for the robot to move from the position where it arrives at the waste residue bin to transport the waste residue bin away from the position where it is located. In this way, the response time of the robot just ensures the reaction time of the production line from receiving the stop command to completing the stop, and can effectively avoid the problem of waste residue leakage.

[0054] Step 205: Judge whether the second robot can reach the waste residue dropping area from the current position within the required time according to the moving speed and required time of the second robot.

[0055] In the embodiments of the present application, it should be noted that after the controller predicts the time required for the waste residue weight to reach the second weight from the current weight periodically according to the waste residue weight, the controller can further judge whether the second robot can reach the waste residue dropping area from the current position within the required time according to the moving speed and required time of the second robot.

[0056] Step 206: When it is judged that the second robot can reach the waste residue dropping area from the current position within the required time, control the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area.

[0057] In the embodiment of the present application, it should be noted that after the controller obtains the waste residue weight of the waste residue in the first waste residue box in real time through the weight sensing device installed at the material dropping point in the waste residue dropping area, it can further predict the time required for the waste residue weight in the first waste residue box to reach the second weight from the current weight periodically according to the waste residue weight. If the controller determines that the second robot can reach the waste residue dropping area from the current position within the required time, it means that if according to the current waste residue dropping speed, when the second robot reaches the waste residue dropping area, the waste residue in the first waste residue box is not yet full, and the second robot needs to continue to wait until the waste residue in the first waste residue box is full before transporting the second waste residue box to the material dropping point. Therefore, at this time, the controller can control the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area to wait for the waste residue weight in the first waste residue box to reach the second weight. Among them, in this technical solution, in order to save the distribution time of the waste residue box, the waiting area can be set very close to the waste residue dropping area.

[0058] In the embodiment of the present application, the waste residue transfer method further includes: during the process of controlling the second robot to move to the waiting area, in the case where it is determined according to the moving speed and the required time of the second robot that the second robot cannot reach the waste residue dropping area from the current position within the required time, the destination of the second robot is switched from the waiting area to the waste residue dropping area.

[0059] In this embodiment, it should be noted that after the controller obtains the waste residue weight of the waste residue in the first waste residue box in real time through the weight sensing device installed at the material dropping point in the waste residue dropping area, it can further predict the time required for the waste residue weight in the first waste residue box to reach the second weight from the current weight periodically according to the waste residue weight. If the controller determines that the second robot can reach the waste residue dropping area from the current position within the required time, the controller controls the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area. During the process of the controller controlling the second robot to move to the waiting area, the controller will still continuously update and calculate the time required for the waste residue weight in the first waste residue box to reach the second weight from the current weight according to the waste residue weight, and further calculate whether the second robot can still reach the waste residue dropping area within the updated required time according to the updated required time. If there is any calculation during the process of the controller controlling the second robot to move to the waiting area that the second robot cannot reach the waste residue dropping area from the current position within the updated required time, it means that if according to the current waste residue dropping speed, when the waste residue in the first waste residue box is already full, the second robot has not yet reached the waste residue dropping area. Therefore, at this time, the controller can immediately switch the destination of the second robot from the waiting area to the waste residue dropping area to control the second robot to directly transport the second waste residue box to the waste residue dropping area to improve the efficiency of waste residue transfer.

[0060] Step 207, when the weight of the waste residue reaches the second weight, control the production line to pause.

[0061] In the embodiment of the present application, it should be noted that after the controller obtains through the weight sensing device installed at the material dropping point in the waste residue dropping area that the weight of the waste residue in the first waste residue box reaches the maximum load Gmax of the waste residue box, that is, the first waste residue box is full, at this time, the controller can issue an instruction to the production line to control the production line to pause.

[0062] Step 208, control the first robot to transport the first waste residue box to the waste residue treatment area.

[0063] In the embodiment of the present application, it should be noted that after the controller determines that the weight of the waste residue in the first waste residue box reaches the second weight to control the production line to pause, at this time, an instruction can be issued to the first robot to control the first robot to transport the first waste residue box to the waste residue treatment area.

[0064] Step 209, control the second robot to transport the second waste residue box to the material dropping point in the waste residue dropping area.

[0065] In the embodiment of the present application, it should be noted that after the controller issues an instruction to the first robot to control the first robot to transport the first waste residue box to the waste residue treatment area, an instruction can be continuously issued to the second robot to control the second robot to transport the second waste residue box from the current position to the material dropping point in the waste residue dropping area.

[0066] Step 210, control the production line to resume work.

[0067] In the embodiment of the present application, it should be noted that after the controller controls the second robot to transport the second waste residue box to the material dropping point in the waste residue dropping area, the controller can issue an instruction to the production line to control the production line to resume work.

[0068] In the embodiment of the present application, the waste residue transfer method further includes: when it is detected that the weight at the material dropping point in the waste residue dropping area is greater than the third weight, it is determined that the second waste residue box reaches the material dropping point.

[0069] In this embodiment, it should be noted that a weight sensing device is installed at the material dropping point in the waste residue dropping area. Through the weight sensing device, the weight at the material dropping point can be collected in real time. This weight should be the total weight of the waste residue box and the waste residue inside the waste residue box at the material dropping point. Therefore, the third weight can be set to, but not limited to, 0 kg. When the controller detects that the weight at the material dropping point in the waste residue dropping area is greater than 0 kg, it can indicate that the second waste residue box has reached the material dropping point. At this time, the controller can issue an instruction to the production line to control the production line to resume work and continue to receive the waste residue generated by the production line through the second waste residue box.

[0070] In the embodiment of the present application, when it is determined that the second robot can reach the waste residue dropping area from the current position within the required time, controlling the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area includes: when it is determined that the second robot can reach the waste residue dropping area from the current position within the required time, generating a first distribution instruction; issuing the first distribution instruction to the second robot to control the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area; controlling the first robot to transport the first waste residue box to the waste residue treatment area includes: when the production line is paused, generating a second distribution instruction; issuing the second distribution instruction to the first robot to control the first robot to transport the first waste residue box to the waste residue treatment area.

[0071] In this embodiment, it should be noted that during the process of the second robot moving to the waiting area, the controller will still continuously update and calculate the time required for the waste residue weight in the first waste residue box to reach the second weight based on the waste residue weight, and further calculate whether the second robot can still reach the waste residue dropping area within the updated required time based on the updated required time. If at any time, the controller analyzes that the second robot can reach the waste residue dropping area within the required time, the controller will generate a first distribution instruction, and the instruction content can be to control the second robot to move to the waiting area. The controller issues the first distribution instruction to the second robot. After receiving the first distribution instruction, the second robot executes the first distribution instruction, and the controller can then control the first robot to transport the first waste residue box to the waste residue treatment area. Similarly, after the first waste residue box is full and the production line is paused, the controller will generate a second distribution instruction, and the instruction content can be to control the first robot to transport the first waste residue box to the waste residue treatment area. The controller issues the second distribution instruction to the first robot. After receiving the second distribution instruction, the first robot executes the second distribution instruction, and the controller can then control the first robot to transport the first waste residue box to the waste residue treatment area.

[0072] In the embodiment of the present application, the first delivery instruction carries the current status information and current position information of the first robot, and the second delivery instruction carries the current status information and current position information of the second robot. Sending the first delivery instruction to the second robot to control the second robot to move to the waiting area between the waste treatment area and the waste dropping area includes: sending the first delivery instruction to the second robot; the second robot determines whether to respond to the first delivery instruction according to the current status information and current position information of the first robot; in the case that the second robot determines to respond to the first delivery instruction according to the current status information and current position information of the first robot, controlling the second robot to move to the waiting area between the waste treatment area and the waste dropping area; sending the second delivery instruction to the first robot to control the first robot to transport the first waste bin to the waste treatment area includes: sending the second delivery instruction to the first robot; the first robot determines whether to respond to the second delivery instruction according to the current status information and current position information of the second robot; in the case that the first robot determines to respond to the second delivery instruction according to the current status information and current position information of the second robot, controlling the first robot to transport the first waste bin to the waste treatment area.

[0073] In this embodiment, it should be noted that both the first robot and the second robot have the ability of autonomous decision-making. The autonomous decision-making ability of the robot can refer to the ability of the robot to make decisions and execute tasks independently according to the current environment and task requirements without human intervention. Therefore, in this technical solution, if at any time, the controller analyzes that the second robot can reach the waste dropping area within the required time, the controller will generate the first delivery instruction, and the instruction content can be to control the second robot to move to the waiting area. Among them, the first robot and the second robot perform collaborative operations, that is, when the first robot and the second robot perform any action, they will consider the status of the other robots besides themselves. Therefore, the controller can carry the current position information and current status information of the first robot at the current moment to the first delivery instruction. The controller sends the first delivery instruction to the second robot. After receiving the first delivery instruction, the second robot can determine the operation situation of the first robot according to the current status information and current position information of the first robot to determine whether to respond to the first delivery instruction. If the second robot determines to respond to the first delivery instruction according to the current status information and current position information of the first robot, the second robot will execute the first delivery instruction. At this time, the controller can control the first robot to transport the first waste bin to the waste treatment area. If the second robot determines not to respond to the first delivery instruction according to the current status information and current position information of the first robot, the second robot will not execute the first delivery instruction, that is, there is no need to execute the action sent by the controller.

[0074] Similarly, after the first waste residue bin is full and the production line is paused for control, the controller generates a second delivery instruction, the content of which can be to control the first robot to transport the first waste residue bin to the waste residue treatment area. The controller sends the second delivery instruction to the first robot. After receiving the second delivery instruction, the first robot can determine whether to respond to the second delivery instruction based on the current status information and current position information of the second robot. If the first robot determines to respond to the second delivery instruction based on the current status information and current position information of the second robot, the first robot executes the second delivery instruction. At this time, the controller can control the first robot to transport the first waste residue bin to the waste residue treatment area. If the first robot determines not to respond to the second delivery instruction based on the current status information and current position information of the second robot, the first robot does not execute the second delivery instruction, that is, there is no need to execute the action issued by the controller.

[0075] In the above technical solution, the first robot is controlled to transport the first waste residue bin to the waste residue dropping area; during the operation of the production line, the waste residue weight of the waste residue in the first waste residue bin is obtained; when the waste residue weight reaches the first weight, the second robot is controlled to carry the second waste residue bin and move from the waste residue treatment area to the waste residue dropping area; the time required for the waste residue weight to reach the second weight from the current weight is predicted periodically according to the waste residue weight; it is judged whether the second robot can reach the waste residue dropping area from the current position within the required time according to the moving speed and required time of the second robot; when it is judged that the second robot can reach the waste residue dropping area from the current position within the required time, the second robot is controlled to move to the waiting area between the waste residue treatment area and the waste residue dropping area; when the waste residue weight reaches the second weight, the production line is paused; the first robot is controlled to transport the first waste residue bin to the waste residue treatment area; the second robot is controlled to transport the second waste residue bin to the dropping point of the waste residue dropping area; the production line is controlled to resume work. This method realizes the automatic connection of the robot and the automatic start and stop of the production line through the automatic estimation of the waste residue receiving situation of the waste residue bin, and effectively improves the distribution efficiency of the waste residue.

[0076] An embodiment of the present application provides a waste residue transfer device, including:

[0077] A memory configured to store instructions;

[0078] A controller configured to call the instructions from the memory and be able to implement the above waste residue transfer method when executing the instructions.

[0079] An embodiment of the application provides a waste residue transfer system, including:

[0080] A first robot;

[0081] A second robot;

[0082] A production line is provided with a waste residue dropping area, and the waste residue dropping area includes a dropping point.

[0083] The above-mentioned waste residue transfer device.

[0084] An embodiment of the present application provides a machine-readable storage medium, on which instructions are stored, and when the instructions are executed by a controller, the controller is configured to execute the above-mentioned waste residue transfer method.

[0085] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as Figure 3 shown. The computer device includes a controller A01, a network interface A02, a memory (not shown in the figure), and a database (not shown in the figure) connected through a system bus. Among them, the controller A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02, and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store waste residue transfer method data. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the controller A01, a waste residue transfer method is implemented.

[0086] Those skilled in the art can understand that Figure 3 the structure shown in is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0087] An embodiment of the present application provides a device, which includes a controller, a memory, and a program stored on the memory and executable on the controller. When the controller executes the program, the following steps are implemented: controlling a first robot to transport a first waste residue box to a waste residue dropping area; during the operation of the production line, obtaining the waste residue weight of the waste residue in the first waste residue box; when the waste residue weight reaches a first weight, controlling a second robot to carry a second waste residue box to move from a waste residue treatment area to the waste residue dropping area; periodically predicting the time required for the waste residue weight to reach a second weight from the current weight according to the waste residue weight; judging whether the second robot can reach the waste residue dropping area from the current position within the required time according to the moving speed of the second robot and the required time; when it is judged that the second robot can reach the waste residue dropping area from the current position within the required time, controlling the second robot to move to a waiting area between the waste residue treatment area and the waste residue dropping area; when the waste residue weight reaches the second weight, controlling the production line to pause; controlling the first robot to transport the first waste residue box to the waste residue treatment area; controlling the second robot to transport the second waste residue box to a dropping point in the waste residue dropping area; controlling the production line to resume work.

[0088] In one embodiment, the waste residue transfer method further includes: during the process of controlling the second robot to move to the waiting area, when it is judged according to the moving speed of the second robot and the required time that the second robot cannot reach the waste residue dropping area from the current position within the required time, switching the destination of the second robot from the waiting area to the waste residue dropping area.

[0089] In one embodiment, when it is judged that the second robot can reach the waste residue dropping area from the current position within the required time, controlling the second robot to move to a waiting area between the waste residue treatment area and the waste residue dropping area includes: when it is judged that the second robot can reach the waste residue dropping area from the current position within the required time, generating a first distribution instruction; sending the first distribution instruction to the second robot to control the second robot to move to a waiting area between the waste residue treatment area and the waste residue dropping area; controlling the first robot to transport the first waste residue box to the waste residue treatment area includes: when the production line pauses, generating a second distribution instruction; sending the second distribution instruction to the first robot to control the first robot to transport the first waste residue box to the waste residue treatment area.

[0090] In one embodiment, the first delivery instruction carries the current status information and current location information of the first robot, and the second delivery instruction carries the current status information and current location information of the second robot. Sending the first delivery instruction to the second robot to control the second robot to move to the waiting area between the waste treatment area and the waste dropping area includes: sending the first delivery instruction to the second robot; the second robot determines whether to respond to the first delivery instruction according to the current status information and current location information of the first robot; when the second robot determines to respond to the first delivery instruction according to the current status information and current location information of the first robot, controlling the second robot to move to the waiting area between the waste treatment area and the waste dropping area; sending the second delivery instruction to the first robot to control the first robot to transport the first waste bin to the waste treatment area includes: sending the second delivery instruction to the first robot; the first robot determines whether to respond to the second delivery instruction according to the current status information and current location information of the second robot; when the first robot determines to respond to the second delivery instruction according to the current status information and current location information of the second robot, controlling the first robot to transport the first waste bin to the waste treatment area.

[0091] In one embodiment, the waste transfer method further includes: when it is detected that the weight at the dropping point in the waste dropping area is greater than the third weight, determining that the second waste bin has reached the dropping point.

[0092] In one embodiment, the second weight is less than the waste load threshold of the first waste bin and the second waste bin.

[0093] In one embodiment, the waste transfer system further includes a weight sensing device installed at the dropping point in the waste dropping area, and the waste transfer method further includes: collecting the waste weight of the waste in the waste bin located at the dropping point through the weight sensing device.

[0094] The present application also provides a computer program product which, when executed on a data processing device, is adapted to execute a program initialized with the following method steps: controlling a first robot to transport a first waste residue box to a waste residue dropping area; during the operation of a production line, obtaining the waste residue weight of the waste residue in the first waste residue box; when the waste residue weight reaches a first weight, controlling a second robot to carry a second waste residue box to move from a waste residue treatment area to the waste residue dropping area; periodically predicting, according to the waste residue weight, the time required for the waste residue weight to reach a second weight from the current weight; judging whether the second robot can reach the waste residue dropping area from the current position within the required time according to the moving speed of the second robot and the required time; when judging that the second robot can reach the waste residue dropping area from the current position within the required time, controlling the second robot to move to a waiting area between the waste residue treatment area and the waste residue dropping area; when the waste residue weight reaches the second weight, controlling the production line to pause; controlling the first robot to transport the first waste residue box to the waste residue treatment area; controlling the second robot to transport the second waste residue box to a dropping point in the waste residue dropping area; controlling the production line to resume operation.

[0095] In one embodiment, when judging that the second robot can reach the waste residue dropping area from the current position within the required time, controlling the second robot to move to a waiting area between the waste residue treatment area and the waste residue dropping area includes: when judging that the second robot can reach the waste residue dropping area from the current position within the required time, generating a first distribution instruction; sending the first distribution instruction to the second robot to control the second robot to move to the waiting area between the waste residue treatment area and the waste residue dropping area; controlling the first robot to transport the first waste residue box to the waste residue treatment area includes: when the production line pauses, generating a second distribution instruction; sending the second distribution instruction to the first robot to control the first robot to transport the first waste residue box to the waste residue treatment area.

[0096] In one embodiment, the first delivery instruction carries the current status information and current location information of the first robot, and the second delivery instruction carries the current status information and current location information of the second robot. Sending the first delivery instruction to the second robot to control the second robot to move to the waiting area between the waste treatment area and the waste dropping area includes: sending the first delivery instruction to the second robot; the second robot determines whether to respond to the first delivery instruction according to the current status information and current location information of the first robot; when the second robot determines to respond to the first delivery instruction according to the current status information and current location information of the first robot, controlling the second robot to move to the waiting area between the waste treatment area and the waste dropping area; sending the second delivery instruction to the first robot to control the first robot to transport the first waste bin to the waste treatment area includes: sending the second delivery instruction to the first robot; the first robot determines whether to respond to the second delivery instruction according to the current status information and current location information of the second robot; when the first robot determines to respond to the second delivery instruction according to the current status information and current location information of the second robot, controlling the first robot to transport the first waste bin to the waste treatment area.

[0097] In one embodiment, the waste transfer method further includes: during the process of controlling the second robot to move to the waiting area, when it is determined according to the moving speed and required time of the second robot that the second robot cannot reach the waste dropping area from the current location within the required time, switching the destination of the second robot from the waiting area to the waste dropping area.

[0098] In one embodiment, the waste transfer method further includes: when it is detected that the weight of the dropping point in the waste dropping area is greater than the third weight, determining that the second waste bin reaches the dropping point.

[0099] In one embodiment, the second weight is less than the waste load threshold of the first waste bin and the second waste bin.

[0100] In one embodiment, the waste transfer system further includes a weight sensing device installed at the dropping point in the waste dropping area, and the waste transfer method further includes: collecting the waste weight of the waste in the waste bin located at the dropping point through the weight sensing device.

[0101] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowchart and / or block diagram. These computer program instructions can be provided to the controller of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the controller of the computer or other programmable data processing device generate for implementing in the process Figure 1 one or more flows and / or blocks Figure 1 a device for the functions specified in one or more blocks or multiple blocks.

[0103] These computer program instructions can also be stored in a computer-readable memory capable of guiding a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements in the process Figure 1 one or more flows and / or blocks Figure 1 the functions specified in one or more blocks or multiple blocks.

[0104] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide for implementing in the process Figure 1 one or more flows and / or blocks Figure 1 the steps of the functions specified in one or more blocks or multiple blocks.

[0105] In a typical configuration, a computing device includes one or more controllers (CPUs), an input / output interface, a network interface, and a memory.

[0106] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

[0107] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transitory medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0108] It should also be noted that the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, such that a process, method, article or apparatus comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or apparatus. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising the element.

[0109] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A waste slag transport method, characterized in that: Applied to a waste slag transfer system, the waste slag transfer system comprises a first robot, a second robot and a production line, the production line is provided with a waste slag dropping area, and the waste slag transfer method comprises: Controlling the first robot to transport the first waste slag frame to the waste slag dropping area; During the operation of the production line, obtaining the weight of the waste residue in the first waste residue frame; When the weight of the waste reaches a first weight, controlling the second robot to carry the second waste frame and move from the waste processing area to the waste dropping area; Periodically predicting the time required for the waste residue weight to reach a second weight from a current weight according to the waste residue weight; Determining whether the second robot can reach the waste slag dropping area from the current position within the required time according to the moving speed and required time of the second robot; If it is determined that the second robot can reach the waste slag dropping area from the current position within the required time, control the second robot to move to a waiting area between the waste slag processing area and the waste slag dropping area; When the weight of the waste residue reaches the second weight, controlling the production line to pause; Controlling the first robot to transport the first waste residue frame to the waste residue processing area; Controlling the second robot to transport the second waste slag frame to a drop point in the waste slag drop area; Control the production line to resume operation.

2. The waste slag transport method according to claim 1, characterized in that: The waste residue transfer method further comprises: During the process of controlling the second robot to move to the waiting area, if it is determined based on the moving speed and required time of the second robot that the second robot cannot reach the waste slag dropping area from the current position within the required time, the destination of the second robot is switched from the waiting area to the waste slag dropping area.

3. The waste slag transport method according to claim 1, characterized in that: When it is determined that the second robot can reach the waste slag dropping area from the current position within the required time, controlling the second robot to move to the waiting area between the waste slag processing area and the waste slag dropping area comprises: If it is determined that the second robot can reach the waste slag drop area from the current position within the required time, generating a first delivery instruction; Sending the first delivery instruction to the second robot to control the second robot to move to a waiting area between the waste residue processing area and the waste residue dropping area; The controlling the first robot to transport the first waste residue frame to the waste residue processing area comprises: In case the production line is paused, generating a second delivery instruction; The second delivery instruction is sent to the first robot to control the first robot to transport the first waste residue frame to the waste residue processing area.

4. The waste slag transport method according to claim 3, characterized in that: The first delivery instruction carries the current state information and the current position information of the first robot, the second delivery instruction carries the current state information and the current position information of the second robot, and the sending of the first delivery instruction to the second robot to control the second robot to move to the waiting area between the waste residue processing area and the waste residue dropping area includes: Sending the first delivery instruction to the second robot; The second robot determines whether to respond to the first delivery instruction according to the current state information and current position information of the first robot; When the second robot determines to respond to the first delivery instruction according to the current state information and current position information of the first robot, the second robot is controlled to move to a waiting area between the waste residue processing area and the waste residue dropping area; The sending of the second delivery instruction to the first robot to control the first robot to transport the first waste residue frame to the waste residue processing area includes: sending the second delivery instruction to the first robot; The first robot determines whether to respond to the second delivery instruction based on the current state information and current position information of the second robot; When the first robot determines to respond to the second delivery instruction according to the current state information and the current position information of the second robot, the first robot is controlled to transport the first waste frame to the waste processing area.

5. The waste slag transport method according to claim 1, characterized in that: The waste residue transfer method further comprises: When it is detected that the weight of the drop point of the waste residue drop area is greater than the third weight, it is determined that the second waste residue frame reaches the drop point.

6. The waste slag transport method according to claim 1, characterized in that: The second weight is less than waste load thresholds of the first waste frame and the second waste frame.

7. The waste slag transport method according to claim 1, characterized in that: The waste slag transfer system further includes a weight sensing device installed at a drop point of the waste slag drop area, and the waste slag transfer method further includes: The weight sensing device is used to collect the weight of the waste slag in the waste slag frame at the material dropping point.

8. A waste slag transfer device, characterized in that: include: a memory configured to store instructions; A controller is configured to call the instructions from the memory and implement the waste slag transfer method according to any one of claims 1 to 7 when executing the instructions.

9. A waste residue transfer system, characterized in that: include: First Robot; Second robot; The production line is provided with a waste slag dropping area, and the waste slag dropping area includes a dropping point; The waste slag transfer device according to claim 8.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a controller, the controller is configured to perform the waste slag transporting method according to any one of claims 1 to 7.

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