Method for controlling conveying device and conveying device

Abstract

The embodiment of the invention provides a control method of a carrying device and the carrying device.The carrying device comprises a walking mechanism, a bearing mechanism, a carrying mechanism and a distance sensor, and the bearing mechanism, the carrying mechanism and the distance sensor are arranged on the walking mechanism; the bearing mechanism is provided with an accommodating area; the control method of the carrying device comprises the steps that the carrying device is controlled to be positioned to a material taking position, so that the containing area is opposite to materials; a distance sensor is used for detecting a first distance between the distance sensor and the material; the carrying mechanism is controlled to stretch out, a second distance between the distance sensor and the material is detected in real time, and a first difference value between the second distance and the first distance is determined; when the first difference value is larger than a first threshold value, the material carrying mechanism is controlled to stop stretching out and retract; and under the condition that the material carrying mechanism completes the stretching-out action and is not triggered to stop, the material carrying mechanism is controlled to transfer the materials to the containing area.

Description

Technical Field

[0001] This application relates to the technical field of warehousing equipment, and particularly to a control method and a handling device for a handling device. Background Art

[0002] In a warehousing system, materials are stored on shelves, and sometimes it is necessary to use a handling device to take out the materials. During the material taking process, the handling device first moves to the material taking position so that the accommodating area of the carrying mechanism of the handling device faces the material. Then, the material handling mechanism can be extended. After the material handling mechanism extends in place, the material handling mechanism moves the material to the accommodating area of the carrying mechanism.

[0003] Generally speaking, the handling device can only automatically move the materials at the preset positions on the shelves to the accommodating area of the carrying mechanism according to a preset program. For example, in the case where the materials are displaced due to accidental contact, the materials will deviate from the preset positions on the shelves. The material handling mechanism takes materials from the preset positions on the shelves according to the preset program. During the process of the material handling mechanism extending towards the materials, the material handling mechanism may collide with the materials, thereby possibly pushing the materials out of the shelves, and further causing the materials to fall and be damaged. Summary of the Invention

[0004] Embodiments of this application provide a control method and a handling device for a handling device, so as to solve the problem that the materials may fall during the process of the material handling mechanism extending to obtain the materials after the position of the materials shifts.

[0005] To solve the above technical problems, this application is implemented as follows: In a first aspect, embodiments of this application provide a control method for a handling device.

[0006] The control method for the handling device provided by the embodiments of this application is applied to a handling device; the handling device includes: a traveling mechanism, and a carrying mechanism, a material handling mechanism, and a distance sensor provided on the traveling mechanism; the carrying mechanism is provided with an accommodating area; the control method for the handling device includes: controlling the handling device to be positioned at the material taking position so that the accommodating area faces the material; using the distance sensor to detect a first distance between itself and the material; controlling the material handling mechanism to extend, and in real time detecting a second distance between the distance sensor and the material, and determining a first difference between the second distance and the first distance; when the first difference is greater than a first threshold, controlling the material handling mechanism to stop extending and retract; when the material handling mechanism completes the extending action and does not trigger a stop, controlling the material handling mechanism to transfer the material to the accommodating area.

[0007] Optionally, when the first difference is greater than the first threshold, controlling the material handling mechanism to stop extending and retract includes: when the first difference is greater than the first threshold and less than or equal to the second threshold, controlling the material handling mechanism to stop extending and retract, controlling the traveling mechanism to adjust its posture so that the receiving area faces the material again, and then controlling the material handling mechanism to extend again to transfer the material to the receiving area; when the first difference is greater than the second threshold, controlling the material handling mechanism to stop extending and retract and issuing a warning of abnormal operation.

[0008] Optionally, when the first difference is greater than the first threshold and less than or equal to the second threshold, controlling the material handling mechanism to stop extending and retract and controlling the traveling mechanism to adjust its posture includes: when the first difference is greater than the first threshold and less than or equal to the second threshold, obtaining a third distance between the distance sensor and the material; controlling the traveling mechanism to translate in a first direction until the detection part of the distance sensor faces a target edge of the material, determining a fourth distance of the traveling mechanism translating in the first direction, and determining a fifth distance between the distance sensor and the target edge, where the first direction is perpendicular to the orientation of the detection part of the distance sensor and is also parallel to the horizontal plane, and the target edge is one of the vertical edges of the side of the material facing the receiving area; determining the deflection angle of the material based on the third distance, the fourth distance, and the fifth distance, where the deflection angle is determined based on the formula a = arcsin(|L5 - L3| / L4), a is the deflection angle, L3 is the third distance, L4 is the fourth distance, and L5 is the fifth distance; controlling the traveling mechanism to adjust its posture based on the position of the target edge and the deflection angle so that the receiving area faces the material directly.

[0009] Optionally, controlling the traveling mechanism to translate in a first direction until the detection part of the distance sensor faces a target edge of the material includes: controlling the traveling mechanism to translate in the first direction, obtaining a sixth distance between the distance sensor and the material at a preset sampling period, and determining a rate of change of the distance based on the sixth distance obtained in the current sampling period and the sixth distance obtained in the previous sampling period; when the rate of change of the distance is greater than a third threshold, determining that the detection part of the distance sensor faced the target edge in the previous sampling period; controlling the traveling mechanism to return to the position in the previous sampling period so that the detection part of the distance sensor faces the target edge.

[0010] Optionally, the transporting device also includes a lifting drive, which is arranged on the walking mechanism and is drivingly connected to the carrying mechanism; controlling the transporting device to be positioned at the material picking position so that the accommodating area is opposite to the material includes: controlling the transporting device to be positioned at the material picking position, and controlling the lifting drive to drive the carrying mechanism to lift and lower so that the accommodating area is opposite to the material in the height direction.

[0011] Optionally, the material handling mechanism includes a telescopic drive and a material acquirer, and the telescopic drive is drivingly connected to the material acquirer; when the material handling mechanism completes the extending action and does not trigger the stop, controlling the material handling mechanism to transfer the material to the accommodating area includes: when the telescopic drive drives the material acquirer to complete the extending action and does not trigger the stop, controlling the material acquirer to acquire the material; controlling the telescopic drive to drive the material acquirer and the material to retract, so that the material is moved to the accommodating area.

[0012] Optionally, the material acquirer includes a accommodating frame, a stopper and a stopper driver; the telescopic driver is drivingly connected to the accommodating frame, the accommodating frame includes a first side stop, a second side stop and a connecting member, the first side stop and the second side stop are arranged opposite to each other, the connecting member is respectively connected to the first side stop and the second side stop, and the end of the accommodating frame away from the connecting member is open; the stopper driver is connected to the accommodating frame, and the stopper driver is used to drive the stopper to switch between a blocking position and an avoidance position, when the stopper is in the blocking position, the stopper blocks the end of the accommodating frame away from the connecting member, and when the stopper is in the avoidance position, the end of the accommodating frame away from the connecting member is open; or, The material acquirer includes a clamp driver, a first clamp and a second clamp; the telescopic driver is drivingly connected to the clamp driver, and the clamp driver is respectively connected to the first clamp and the second clamp to drive the first clamp and the second clamp to move closer to or away from each other.

[0013] Optionally, the number of the distance sensor is one, and the distance sensor is fixedly disposed on the supporting mechanism.

[0014] Optionally, the control method of the transport device further includes: controlling the walking mechanism to remain stationary during the process of controlling the material transporting mechanism to extend.

[0015] Optionally, the control method of the handling device further includes: receiving a target length associated with the size of the material sent from the server side, and determining that the material handling mechanism has completed the extension action when the extension length of the material handling mechanism reaches the target length.

[0016] In a second aspect, an embodiment of the present application provides a handling device.

[0017] The handling device provided by the embodiment of the present application includes a controller, and the controller is used to execute the steps of any control method of the handling device provided by the embodiment of the present application.

[0018] The above at least one technical solution adopted by the embodiment of the present application can achieve the following beneficial effects: In the embodiment of the present application, after the handling device is positioned at the material taking position, the first distance between the distance sensor and the material can be obtained by using the distance sensor. Furthermore, the material handling mechanism can be controlled to extend, and during the extension process of the material handling mechanism, the second distance between the distance sensor and the material can be obtained in real time.

[0019] Furthermore, the first difference between the second distance and the first distance can be determined. During the extension process of the material handling mechanism, if the first difference is greater than the first threshold, the material handling mechanism is controlled to stop extending and retract, so as to avoid forcibly controlling the material handling mechanism to extend and push the material out of the goods shelf.

[0020] It should be noted that if the actual position of the material is offset relative to the position where the material is correctly placed on the goods shelf, then during the extension process of the material handling mechanism, the material handling mechanism may push the material to move away from the handling device. If the distance that the material handling mechanism pushes the material to move is large, it means that the actual offset of the material is large. Therefore, when the first difference is greater than the first threshold, the material handling mechanism can be controlled to stop extending, so as to avoid forcibly controlling the material handling mechanism to extend and push the material out of the goods shelf.

[0021] When the material handling mechanism has completed the extension action and has not been triggered to stop, the material handling mechanism is controlled to transfer the material to the accommodation area. In other words, during the process of the material handling mechanism completing the extension action, if the first difference is always less than or equal to the first threshold, after the material handling mechanism extends in place, the material handling mechanism is used to transfer the material to the accommodation area of the carrying mechanism.

[0022] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 A schematic diagram of a transport device provided in an embodiment of the present application; Figure 2 A schematic diagram of a transport device provided in an embodiment of the present application from another angle; Figure 3 A schematic diagram of a bearing mechanism, a material handling mechanism and a distance sensor provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state and the stopper is in an avoidance position; Figure 4 A schematic diagram of a bearing mechanism, a material handling mechanism and a distance sensor provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in an extended state and the stopper is in an avoidance position; Figure 5 A schematic diagram of a bearing mechanism, a material handling mechanism and a distance sensor provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in an extended state and the stopper is in a shielding position; Figure 6 A schematic diagram of a bearing mechanism, a material handling mechanism and a distance sensor provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state and the stopper is in a shielding position; Figure 7 A schematic diagram of another bearing mechanism, a material handling mechanism, a distance sensor and a material provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state and the stopper is in an avoidance position; Figure 8 A schematic diagram of another bearing mechanism, a material handling mechanism, a distance sensor and a material provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in an extended state and the stopper is in an avoidance position; Figure 9 A schematic diagram of another bearing mechanism, a material handling mechanism, a distance sensor and a material provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in an extended state and the stopper is in a shielding position; Figure 10 A schematic diagram of another bearing mechanism, a material handling mechanism, a distance sensor and a material provided in an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state and the stopper is in a shielding position; Figure 11Another schematic diagram of a carrying mechanism, a material handling mechanism, a distance sensor, and a material provided by an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state and the stopper is in an avoidance position; Figure 12 Another schematic diagram of a carrying mechanism, a material handling mechanism, a distance sensor, and a material provided by an embodiment of the present application, which shows a situation where the material handling mechanism is in a partially extended state and the stopper is in an avoidance position; Figure 13 Another schematic diagram of a carrying mechanism, a material handling mechanism, a distance sensor, and a material provided by an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state and the stopper is in an avoidance position; Figure 14 Another schematic diagram of a carrying mechanism, a material handling mechanism, a distance sensor, and a material provided by an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state, the stopper is in an avoidance position, and the traveling mechanism moves a first target distance to the right in a direction parallel to the front side of the material; Figure 15 Another schematic diagram of a carrying mechanism, a material handling mechanism, a distance sensor, and a material provided by an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state, the stopper is in an avoidance position, and the traveling mechanism moves to a position opposite the right edge of the front side of the material in a direction parallel to the front side of the material; Figure 16 Another schematic diagram of a carrying mechanism, a material handling mechanism, a distance sensor, and a material provided by an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state, the stopper is in an avoidance position, and the traveling mechanism is adjusted so that the accommodation area is directly opposite the attitude of the material; Figure 17 Another schematic diagram of a carrying mechanism, a material handling mechanism, a distance sensor, and a material provided by an embodiment of the present application, which shows a situation where the material handling mechanism is in a retracted state, the stopper is in an avoidance position, and the traveling mechanism moves to a position opposite the left edge of the front side of the material in a direction parallel to the front side of the material; Figure 18 A flowchart of a control method for a handling device provided by an embodiment of the present application; Figure 19 A flowchart of another control method for a handling device provided by an embodiment of the present application.

[0025] Explanation of reference numerals: 10 - Handling device; 11 - Traveling mechanism; 12 - Carrying mechanism; 121 - Accommodating area; 13 - Material handling mechanism; 131 - Telescopic drive; 132 - Accommodating frame; 1321 - First side stop; 1322 - Second side stop; 1323 - Connecting member; 133 - Stopping member; 134 - Stopping member drive; 14 - Distance sensor; 15 - Lifting drive; 20 - Material; 21 - Target edge. Detailed implementation manners

[0026] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0027] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0028] In addition, although the terms used in the present application are selected from well-known and commonly used terms, some of the terms mentioned in the specification of the present application may be selected by the applicant according to his or her judgment, and their detailed meanings are described in the relevant parts of the description herein.

[0029] In addition, it is required to understand the present application not only through the actual terms used, but also through the meaning implied by each term.

[0030] The technical solutions provided by the embodiments of the present application are described in detail below in conjunction with the drawings.

[0031] The embodiments of the present application provide a control method for a handling device. In other words, this control method is applied to the handling device. Refer to Figures 1 to 17 , the handling device 10 provided by the embodiments of the present application includes: a traveling mechanism 11, and a carrying mechanism 12, a material handling mechanism 13 and a distance sensor 14 provided on the traveling mechanism 11. The carrying mechanism 12 is provided with an accommodating area 121.

[0032] Exemplarily, the traveling mechanism 11 can be an Automated Guided Vehicle (AGV). An automated guided vehicle is also known as an automated guided handling vehicle or an automated guided cart. An automated guided vehicle is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or tow a load-carrying trolley to a designated location, and then loads and unloads goods automatically or manually.

[0033] The carrying mechanism 12 is used to carry the material 20. It should be noted that, exemplarily, before the handling device 10 acquires the material 20, the carrying mechanism 12 is in an empty state. Then, when the material handling mechanism 13 moves to a position opposite to the material 20, the material 20 on the shelf can be moved to the accommodation area 121 of the carrying mechanism 12 by using the material handling mechanism 13.

[0034] Exemplarily, the carrying mechanism 12 is carried on the traveling mechanism 11. The carrying mechanism 12 can move with the traveling mechanism 11. The material handling mechanism 13 is connected to the carrying mechanism 12, and the material handling mechanism 13 can telescopically move relative to the carrying mechanism 12 in the horizontal direction to transfer the material 20 on the shelf opposite to the accommodation area 121 of the carrying mechanism 12 to the accommodation area 121. The distance sensor 14 is provided on the carrying mechanism 12, and the detection part of the distance sensor 14 faces the accommodation area 121 in the horizontal direction.

[0035] Exemplarily, the distance sensor 14 can be an optical distance sensor, an infrared distance sensor, or an ultrasonic distance sensor, etc. For example, the distance sensor 14 is a conventional laser ranging sensor or an ultrasonic sensor, and the detection accuracy of the distance sensor 14 meets the displacement monitoring requirements of ±1 mm.

[0036] Reference Figure 18 , the control method of the handling device provided by the embodiment of the present application includes: Step 310, control the handling device to be positioned at the material taking position so that the accommodation area is opposite to the material.

[0037] In the embodiment of the present application, the handling device 10 can be controlled to move to the material taking position. Wherein, when the handling device 10 is at the material taking position, the accommodation area 121 of the carrying mechanism 12 is opposite to the material 20.

[0038] Exemplarily, before the handling device 10 acquires the material 20, the material 20 is placed on the shelf. For example, the number of shelves is multiple, the shelf is a multi-layer shelf, and each layer of the shelf can be used to carry materials respectively. For example, the material 20 to be acquired is located at the 3rd position from the left to the right on the 3rd layer from the bottom to the top of the 2nd shelf. Then, the carrying mechanism 12 of the handling device 10 can be controlled to move to a position opposite to the material at the 3rd position from the left to the right on the 3rd layer from the bottom to the top of the 2nd shelf.

[0039] Step 320: Use a distance sensor to detect the first distance between itself and the material.

[0040] Reference Figure 7 Or Figure 11 , in an embodiment of the present application, after the handling device 10 moves to the material taking position, the distance sensor 14 can be used to obtain the first distance L1 between the distance sensor 14 and the material 20.

[0041] Step 330: Control the material handling mechanism to extend, and continuously detect the second distance between the distance sensor and the material, and determine the first difference between the second distance and the first distance.

[0042] In an embodiment of the present application, before the material handling mechanism 13 extends, the distance sensor 14 can be used to obtain the first distance L1 between the distance sensor 14 and the material 20. Reference Figure 8 Or Figure 12 , after obtaining the first distance L1 between the distance sensor 14 and the material 20, the material handling mechanism 13 can be controlled to extend, and the distance sensor 14 can be used to obtain the second distance L2 between the distance sensor 14 and the material 20. Further, based on the obtained first distance L1 and second distance L2, the first difference between the second distance L2 and the first distance L1 can be determined.

[0043] Step 340: When the first difference is greater than the first threshold, control the material handling mechanism to stop extending and retract.

[0044] Reference Figure 12 And Figure 13 , in an embodiment of the present application, when the first difference is greater than the first threshold, control the material handling mechanism 13 to stop extending and retract.

[0045] For example, the first threshold is 50 millimeters. During the extension of the material handling mechanism 13, if the material handling mechanism 13 does not touch the material 20, the material 20 will not be displaced, the second distance L2 between the distance sensor 14 and the material 20 is equal to the first distance L1, and the first difference is equal to zero. In this way, after the material handling mechanism 13 extends in place, the material 20 can be transferred to the accommodation area 121 of the carrying mechanism 12 by using the material handling mechanism 13.

[0046] During the extension of the material handling mechanism 13, if although the material handling mechanism 13 touches the material 20, but the displacement of the material 20 is small, that is, the first difference is less than or equal to the first threshold, the material 20 can be transferred to the accommodation area 121 of the carrying mechanism 12 by using the material handling mechanism 13 after the material handling mechanism 13 extends in place.

[0047] During the extension process of the material handling mechanism 13, if the material handling mechanism 13 pushes the material 20 to cause a large deviation, it is considered that the material 20 is severely skewed. If the extension of the material handling mechanism 13 is forcibly controlled continuously, the material 20 may be pushed out of the shelf, or the material 20 may collide with the support rod of the shelf or the adjacent material 20. Therefore, when the first difference is greater than the first threshold, the control material handling mechanism 13 stops extending and retracts.

[0048] Step 350, when the material handling mechanism completes the extension action and does not trigger a stop, control the material handling mechanism to transfer the material to the accommodation area.

[0049] In the embodiment of the present application, when the material handling mechanism 13 completes the extension action and does not trigger a stop, control the material handling mechanism 13 to transfer the material 20 to the accommodation area 121 of the bearing mechanism 12.

[0050] For example, in the embodiment of the present application, during the process of the material handling mechanism 13 completing the extension action, the first difference is always less than or equal to the first threshold, then it can be determined that the material handling mechanism 13 does not trigger a stop during the process of completing the extension action. Therefore, refer to Figures 8 to 10 , after the material handling mechanism 13 completes the extension action, the material handling mechanism 13 can be controlled to obtain the material 20 and transfer the material 20 to the accommodation area 121 of the bearing mechanism 12.

[0051] In this way, in the embodiment of the present application, after the handling device 10 is positioned at the material taking position, the distance sensor 14 can be used to obtain the first distance L1 between the distance sensor 14 and the material 20. Furthermore, the material handling mechanism 13 can be controlled to extend, and during the extension process of the material handling mechanism 13, the second distance L2 between the distance sensor 14 and the material 20 can be obtained in real time.

[0052] Furthermore, the first difference between the second distance L2 and the first distance L1 can be determined. During the extension process of the material handling mechanism 13, if the first difference is greater than the first threshold, control the material handling mechanism 13 to stop extending and retract to avoid forcibly controlling the material handling mechanism 13 to extend and pushing the material 20 out of the shelf.

[0053] It should be noted that if the actual position of the material 20 is offset relative to the position where the material 20 is correctly placed on the shelf, during the extension process of the material handling mechanism 13, the material handling mechanism 13 may push the material 20 to move away from the handling device 10. If the material handling mechanism 13 pushes the material 20 to move a large distance, it means that the actual offset of the material 20 is large. Therefore, when the first difference is greater than the first threshold, the material handling mechanism 13 can be controlled to stop extending to avoid forcibly controlling the material handling mechanism 13 to extend and pushing the material 20 out of the shelf.

[0054] When the material handling mechanism 13 has completed its extending action and has not been triggered to stop, control the material handling mechanism 13 to transfer the material 20 to the accommodating area 121. In other words, during the process of the material handling mechanism 13 completing its extending action, if the first difference is always less than or equal to the first threshold, then after the material handling mechanism 13 extends to the in-place position, use the material handling mechanism 13 to transfer the material 20 to the accommodating area 121 of the carrying mechanism 12.

[0055] It should be noted that in some embodiments, when the first difference is greater than the first threshold, if the first difference is not too large, the attitude of the handling device 10 can be adjusted so that the material handling mechanism 13 of the handling device 10 faces the skewed material 20, so that the material handling mechanism 13 can be controlled to extend again to obtain the material 20, and then the material 20 can be transferred to the accommodating area 121.

[0056] When the first difference is too large, even if the attitude of the handling device 10 is adjusted so that the material handling mechanism 13 of the handling device 10 faces the skewed material 20; however, during the process of the material handling mechanism 13 extending, the material handling mechanism 13 may collide with adjacent materials or the shelf. Therefore, in such a situation, it is recommended that the operator intervene to handle it.

[0057] Therefore, further, referring to Figure 19 , in some embodiments, step 340, when the first difference is greater than the first threshold, controlling the material handling mechanism to stop extending and retract specifically includes: Step 341, when the first difference is greater than the first threshold and less than or equal to the second threshold, control the material handling mechanism to stop extending and retract, control the traveling mechanism to adjust its attitude so that the accommodating area faces the material again, and then control the material handling mechanism to extend again to transfer the material to the accommodating area.

[0058] Step 342, when the first difference is greater than the second threshold, control the material handling mechanism to stop extending and retract, and issue a work abnormality warning.

[0059] In the embodiments of the present application, when the first difference is greater than the first threshold and less than or equal to the second threshold, control the material handling mechanism 13 to stop extending and retract, control the traveling mechanism 11 to adjust its attitude so that the accommodating area 121 faces the material 20 again, and then control the material handling mechanism 13 to extend again to transfer the material 20 to the accommodating area 121 of the carrying mechanism 12.

[0060] When the first difference is greater than the second threshold, control the material handling mechanism 13 to stop extending and retract, and issue a work abnormality warning. Exemplarily, the handling device 10 includes an audible and visual alarm. When the first difference is greater than the second threshold, the audible and visual alarm works to issue an audible and visual warning signal to remind the staff to intervene.

[0061] In some embodiments, the attitude of the traveling mechanism 11 can be controlled in the manner described below to make the accommodation area 121 face the material 20 again.

[0062] Referring to Figure 13 , in the embodiments of the present application, when the first difference is greater than the first threshold and less than or equal to the second threshold, the third distance L3 between the distance sensor 14 and the material 20 is obtained.

[0063] Further, referring to Figure 15 , the traveling mechanism 11 is controlled to translate in the first direction until the detection part of the distance sensor 14 faces the target edge 21 of the material 20. The fourth distance L4 of the traveling mechanism 11 translating in the first direction is determined, and the fifth distance L5 between the distance sensor 14 and the target edge 21 is determined. Wherein, the first direction is perpendicular to the orientation of the detection part of the distance sensor 14, the first direction is also parallel to the horizontal plane, and the target edge 21 is one of the vertical edges of the side of the material 20 facing the accommodation area 121.

[0064] Exemplarily, controlling the traveling mechanism 11 to translate in the first direction until the detection part of the distance sensor 14 faces the target edge 21 of the material 20 includes: controlling the traveling mechanism 11 to translate in the first direction, obtaining the sixth distance L6 between the distance sensor 14 and the material 20 at a preset sampling period, and based on the sixth distance L6 obtained in the current sampling period, and based on the sixth distance L6 obtained in the current sampling period, the distance change rate is determined with the sixth distance L6 obtained in the previous sampling period. When the distance change rate is greater than the third threshold, it is determined that the detection part of the distance sensor 14 faced the target edge 21 in the previous sampling period. The traveling mechanism 11 is controlled to retreat to the position in the previous sampling period so that the detection part of the distance sensor 14 faces the target edge 21.

[0065] In other words, in combination with Figure 14 , Figure 15 and Figure 17 , when the handling device 10 faces the material 20, the traveling mechanism 11 can be driven to move left or right along the width direction of the shelf. When the traveling mechanism 11 moves to cause a sudden change in the parameters of the distance sensor 14, it can be considered that the distance sensor 14 has just "crossed" the target edge 21. Furthermore, the traveling mechanism 11 can be made to retreat to the position in the previous sampling period. In this way, it can be considered that when the traveling mechanism 11 retreats to the position in the previous sampling period, the distance sensor 14 faces the target edge 21.

[0066] For example, the sampling period of the distance sensor 14 is 20 milliseconds. In other words, the distance sensor 14 obtains the sixth distance L6 between itself and the material 20 every 20 milliseconds. For another example, in the third sampling period before the current sampling period, the sixth distance L6 is 0.81 meters; in the second sampling period before the current sampling period, the sixth distance L6 is 0.82 meters; in the first sampling period before the current sampling period, the sixth distance L6 is 0.83 meters; in the current sampling period, the sixth distance L6 is 1.5 meters. Then it is considered that in the first sampling period before the current sampling period (i.e., the previous sampling period of the current sampling period), the distance sensor 14 is facing the target edge 21. Therefore, the traveling mechanism 11 can be controlled to retreat to the position in the previous sampling period, so that the distance sensor 14 faces the target edge 21.

[0067] Further, after determining the third distance L3, the fourth distance L4, and the fifth distance L5, the deflection angle a of the material 20 can be determined based on the third distance L3, the fourth distance L4, and the fifth distance L5, where the deflection angle a is determined based on the formula a = arcsin(|L5 - L3| / L4).

[0068] Further, after determining the deflection angle a of the material 20, the attitude of the traveling mechanism 11 can be controlled based on the position of the target edge 21 and the deflection angle, so that the accommodation area 121 faces the material 20.

[0069] Reference Figure 15 and Figure 16 , the traveling mechanism 11 can be first controlled to rotate based on the deflection angle a, so that the traveling mechanism 11 is parallel to the front side of the material 20. Further, the traveling mechanism 11 can be driven to translate in a direction parallel to the front side of the material 20, so that the accommodation area 121 faces the material 20.

[0070] It should be noted that generally, the material 20 is moved to the shelf by the handling device 10. Therefore, when the material 20 is not offset, its position is known. It should also be noted that if the material 20 is placed on the shelf by an operator, the operator can place the material at a relatively fixed position by setting a material accommodation frame on the shelf.

[0071] Further, in other embodiments, the relative deviation amount between the offset material 20 and the position of the material 20 when it is not offset can be determined based on the position of the edge and the deflection angle a. Further, a position coordinate system of the material 20 when it is not offset and a position coordinate system of the offset material 20 can be established respectively, so that the position of the traveling mechanism 11 can be corrected by coordinate transformation, so that the accommodation area 121 of the carrying mechanism 12 carried on the traveling mechanism 11 can face the offset material 20.

[0072] In addition, in some embodiments, when the material 20 does not shift, the distance between the material 20 and the detection part of the distance sensor 14 is also known. For example, the distance between the non-shifted material 20 and the detection part of the distance sensor 14 is denoted as the initial distance L0. The second difference between the initial distance L0 and the first distance can be determined. Thus, whether to control the material handling mechanism 13 to extend for material picking is determined in combination with the second difference.

[0073] In the embodiments of the present application, when the first difference is greater than the second threshold, the material handling mechanism 13 is controlled to stop extending and retract, and a work abnormality warning is issued to remind the operator to intervene and handle. Exemplarily, the handling device 10 includes an audible and visual alarm. When the first difference is greater than the second threshold, the audible and visual alarm issues an audible and visual warning message to remind the operator to intervene and handle.

[0074] In some embodiments, the handling device 10 further includes a lifting driver 15. The lifting driver 15 is disposed on the traveling mechanism 11, and the lifting driver 15 is drivingly connected to the carrying mechanism 12. In this way, the handling device 10 can be adapted to handle materials on multi-layer shelves. Of course, in other embodiments, if there is only one layer of materials on the shelf, or the materials are directly carried on the ground, the lifting driver 15 may not be provided.

[0075] When the handling device 10 includes the lifting driver 15, controlling the handling device 10 to be positioned at the material picking position so that the receiving area 121 faces the material 20 includes: controlling the handling device 10 to be positioned at the material picking position, and controlling the lifting driver 15 to drive the carrying mechanism 12 to lift and lower so that the receiving area 121 faces the material 20 in the height direction.

[0076] In some embodiments, the material handling mechanism 13 includes a telescopic driver 131 and a material acquirer. The telescopic driver 131 is drivingly connected to the material acquirer.

[0077] When the material handling mechanism 13 completes the extending action and does not trigger a stop, controlling the material handling mechanism 13 to transfer the material 20 to the receiving area 121 includes: when the telescopic driver 131 drives the material acquirer to complete the extending action and does not trigger a stop, controlling the material acquirer to acquire the material 20. Controlling the telescopic driver 131 to drive the material acquirer and the material 20 to retract so that the material 20 moves to the receiving area 121.

[0078] Reference Figures 1 to 6In some embodiments, the material acquisition device includes a housing frame 132, a stopper 133 and a stopper driver 134. The telescopic driver 131 is drivingly connected to the housing frame 132. The housing frame 132 includes a first side block 1321, a second side block 1322 and a connecting member 1323. The first side block 1321 is arranged opposite to the second side block 1322, and the connecting member 1323 connects the first side block 1321 and the second side block 1322 respectively. One end of the housing frame 132 away from the connecting member 1323 is open.

[0079] The stopper driver 134 is connected to the accommodating frame 132, and is used to drive the stopper 133 to switch between the shielding position and the avoidance position. When the stopper 133 is at the shielding position, the stopper 133 blocks the end of the accommodating frame 132 away from the connecting member 1323. When the stopper 133 is at the avoidance position, the end of the accommodating frame 132 away from the connecting member 1323 is open.

[0080] Exemplarily, the stopper driver 134 is a rotary driver. Figures 4 to 10 In the process of obtaining the material 20, the stopper 133 can be rotated to a vertical state first. Then, the accommodating frame 132 can be driven to extend. After the accommodating frame 132 is extended to the right position, the stopper 133 can be rotated to a horizontal state. The end of the stopper 133 away from the accommodating frame 132 is located behind the material 20. Therefore, when the accommodating frame 132 is driven to retract, the stopper 133 can be used to hook the material 20 back, so that the material 20 is moved to the accommodating area 121 of the supporting mechanism 12.

[0081] In other embodiments, the material acquisition device includes a clamp driver, a first clamp and a second clamp. The telescopic driver 131 is drivingly connected to the clamp driver, and the clamp driver is respectively connected to the first clamp and the second clamp to drive the first clamp and the second clamp to move closer to or away from each other.

[0082] In this way, in the process of obtaining the material 20, the first clamp and the second clamp can be moved away from each other first, and then, when the first clamp and the second clamp are respectively located on both sides of the material 20, the first clamp and the second clamp can be moved closer to each other to clamp the material 20. Furthermore, the material 20 can be moved to the accommodating area 121 of the carrying mechanism 12 by driving the first clamp and the second clamp to retract.

[0083] In other embodiments, for example, the material acquirer may be a vacuum suction cup, and the vacuum suction cup may be used to absorb the material 20 , thereby moving the material 20 to the accommodating area 121 of the carrying mechanism 12 .

[0084] In some embodiments, the control method of the handling device 10 further includes: during the process of controlling the material handling mechanism 13 to extend, controlling the traveling mechanism 11 to remain stationary.

[0085] In some embodiments, the control method of the handling device 10 further includes: receiving a target length associated with the size of the material 20 sent from the server side, and determining that the material handling mechanism 13 has completed the extension action when the extension length of the material handling mechanism 13 reaches the target length.

[0086] Exemplarily, the length dimension of the material 20 is 0.6 meters, and the target length is 1.6 meters. That is, the association relationship between the target length and the size of the material 20 is that the target length (the extension length of the material handling mechanism 13) is 1 meter longer than the length dimension of the material 20; wherein, the length dimension of the material 20 is the distance between the front side and the rear side of the material 20.

[0087] In some embodiments, the number of the distance sensors 14 is one. In this way, the procurement cost of the sensors can be saved. The distance sensor 14 is fixedly connected to the carrying mechanism 12. The distance sensor 14 faces the accommodating area 121. In this way, when the accommodating area 121 faces the material 20, the distance sensor 14 can detect the distance between itself and the material 20.

[0088] Exemplarily, the material 20 includes a containing box and workpieces contained in the containing box. One side of the containing box facing the detection part of the distance sensor 14 is a plane. Alternatively, when there are a small number of uneven parts on the side of the containing box facing the detection part of the distance sensor 14, the data obtained when the distance sensor 14 faces the uneven parts can be excluded by means of data processing.

[0089] An embodiment of the present application provides a handling device 10. The handling device 10 provided by the embodiment of the present application includes a controller. The controller is used to execute the steps of any control method of the handling device provided by the embodiment of the present application.

[0090] In this way, in the embodiment of the present application, after the handling device 10 is positioned at the material taking position, the first distance L1 between the distance sensor 14 and the material 20 can be obtained by using the distance sensor 14. Furthermore, the material handling mechanism 13 can be controlled to extend, and during the extension process of the material handling mechanism 13, the second distance L2 between the distance sensor 14 and the material 20 can be obtained in real time.

[0091] Furthermore, the first difference between the second distance L2 and the first distance L1 can be determined. During the extension process of the material handling mechanism 13, if the first difference is greater than the first threshold value, the material handling mechanism 13 is controlled to stop extending and retract, so as to avoid forcibly controlling the material handling mechanism 13 to extend and pushing the material 20 out of the storage rack.

[0092] When the material handling mechanism 13 completes the extending action and does not trigger a stop, control the material handling mechanism 13 to transfer the material 20 to the accommodating area 121. In other words, during the process of the material handling mechanism 13 completing the extending action, if the first difference is always less than or equal to the first threshold, then after the material handling mechanism 13 extends in place, use the material handling mechanism 13 to transfer the material 20 to the accommodating area 121 of the carrying mechanism 12.

[0093] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device 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 device.

[0094] Although the embodiments of the present application have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the embodiments of the present application. The scope of the embodiments of the present application is defined by the appended claims and their equivalents.

Claims

1. A control method for a handling device, characterized in that, The handling device includes: a traveling mechanism (11), and a carrying mechanism (12), a material handling mechanism (13) and a distance sensor (14) provided on the traveling mechanism (11); the carrying mechanism (12) is provided with a receiving area (121); The control method of the handling device includes: Controlling the handling device to be positioned at a material taking position so that the receiving area (121) faces the material (20); Using the distance sensor (14) to detect a first distance between itself and the material (20); Controlling the material handling mechanism (13) to extend, and in real time detecting a second distance between the distance sensor (14) and the material (20), and determining a first difference between the second distance and the first distance; When the first difference is greater than a first threshold, controlling the material handling mechanism (13) to stop extending and retract; In the case where the material handling mechanism (13) has completed the extending action and has not been triggered to stop, controlling the material handling mechanism (13) to transfer the material (20) to the receiving area (121).

2. The control method of the handling device according to claim 1, wherein The step of, when the first difference is greater than the first threshold, controlling the material handling mechanism (13) to stop extending and retract includes: When the first difference is greater than the first threshold and less than or equal to a second threshold, controlling the material handling mechanism (13) to stop extending and retract, controlling the traveling mechanism (11) to adjust its posture so that the receiving area (121) faces the material (20) again, and then controlling the material handling mechanism (13) to extend again to transfer the material (20) to the receiving area (121); When the first difference is greater than the second threshold, controlling the material handling mechanism (13) to stop extending and retract and issuing a warning of abnormal operation.

3. The control method of the handling device according to claim 2, characterized in that, The step of, when the first difference is greater than the first threshold and less than or equal to the second threshold, controlling the material handling mechanism (13) to stop extending and retract and controlling the traveling mechanism (11) to adjust its posture includes: When the first difference is greater than the first threshold and less than or equal to the second threshold, obtaining a third distance between the distance sensor (14) and the material (20); Controlling the traveling mechanism (11) to translate in a first direction until the detection part of the distance sensor (14) faces a target edge (21) of the material (20), determining a fourth distance of the traveling mechanism (11) translating in the first direction, and determining a fifth distance between the distance sensor (14) and the target edge (21), wherein the first direction is perpendicular to the orientation of the detection part of the distance sensor (14), the first direction is also parallel to the horizontal plane, and the target edge (21) is one of the vertical edges of the side of the material (20) facing the receiving area (121); Determining a deflection angle of the material (20) based on the third distance, the fourth distance and the fifth distance, wherein the deflection angle is determined based on the formula a = arcsin(|L5 - L3| / L4), a is the deflection angle, L3 is the third distance, L4 is the fourth distance, and L5 is the fifth distance; Based on the position of the target edge (21) and the deflection angle, control the traveling mechanism (11) to adjust its attitude so that the accommodation area (121) faces the material (20).

4. The control method of the handling device according to claim 3, characterized in that, The control of the traveling mechanism (11) to translate in the first direction until the detection part of the distance sensor (14) faces the target edge (21) of the material (20) includes: Control the traveling mechanism (11) to translate in the first direction, obtain the sixth distance between the distance sensor (14) and the material (20) at a preset sampling period, and determine the distance change rate based on the sixth distance obtained in the current sampling period and the sixth distance obtained in the previous sampling period; When the distance change rate is greater than the third threshold, determine that the detection part of the distance sensor (14) faced the target edge (21) in the previous sampling period; Control the traveling mechanism (11) to retreat to the position in the previous sampling period so that the detection part of the distance sensor (14) faces the target edge (21).

5. The control method of the handling device according to claim 1, wherein, The handling device further includes a lifting driver (15). The lifting driver (15) is arranged on the traveling mechanism (11), and the lifting driver (15) is drivingly connected to the carrying mechanism (12); The control of the handling device to be positioned at the material taking position so that the accommodation area (121) faces the material (20) includes: Control the handling device to be positioned at the material taking position, and control the lifting driver (15) to drive the carrying mechanism (12) to lift and lower so that the accommodation area (121) faces the material (20) in the height direction.

6. The control method of the handling device according to claim 1, characterized in that, The material handling mechanism (13) includes a telescopic driver (131) and a material acquirer. The telescopic driver (131) is drivingly connected to the material acquirer; When the material handling mechanism (13) has completed the extending action and has not triggered a stop, the control of the material handling mechanism (13) to transfer the material (20) to the accommodation area (121) includes: When the telescopic driver (131) drives the material acquirer to complete the extending action and has not triggered a stop, control the material acquirer to acquire the material (20); Control the telescopic driver (131) to drive the material acquirer and the material (20) to retract so that the material (20) moves to the accommodation area (121).

7. The control method of the handling device according to claim 6, wherein The material acquisition device comprises a containing frame (132), a stopper (133) and a stopper driver (134); the telescopic driver (131) is drivingly connected to the containing frame (132); the containing frame (132) comprises a first side block (1321), a second side block (1322) and a connecting member (1323); the first side block (1321) and the second side block (1322) are arranged opposite to each other; the connecting member (1323) is respectively connected to the first side block (1321) and the second side block (1322); the containing frame (132) is away from the connecting member (13 The stopper driver (134) is connected to the accommodating frame (132), and the stopper driver (134) is used to drive the stopper (133) to switch between a blocking position and an avoidance position; when the stopper (133) is located at the blocking position, the stopper (133) blocks an end of the accommodating frame (132) that is away from the connecting member (1323); when the stopper (133) is located at the avoidance position, an end of the accommodating frame (132) that is away from the connecting member (1323) is open; or, The material acquisition device comprises a clamp driver, a first clamp and a second clamp; the telescopic driver (131) is drivingly connected to the clamp driver, and the clamp driver is respectively connected to the first clamp and the second clamp to drive the first clamp and the second clamp to move closer to or away from each other.

8. The control method of the handling device according to claim 1, characterized in that, The number of the distance sensor (14) is one, and the distance sensor (14) is fixedly arranged on the supporting mechanism (12).

9. The control method of the handling device according to claim 1, characterized in that, The control method of the conveying device also includes: In the process of controlling the material handling mechanism (13) to extend, controlling the walking mechanism (11) to remain stationary; And / or, receiving a target length associated with the size of the material (20) sent by the server, and determining that the material moving mechanism (13) has completed the extending action when the extending length of the material moving mechanism (13) reaches the target length.

10. A handling device, characterized in that, The invention comprises a controller, wherein the controller is used to execute the steps of the control method according to any one of claims 1 to 9.

Images