A cargo taking and delivering control method and device applied to an intelligent logistics system

Abstract

This invention relates to the field of logistics equipment technology, and discloses a method and apparatus for cargo retrieval and delivery control applied to an intelligent logistics system. The method includes: determining the cargo size parameters corresponding to the target cargo; controlling a bidirectional synchronous telescopic clamping mechanism via a drive system to transport the target cargo to its designated location based on the cargo size parameters and the cargo's intended location; monitoring real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism during the cargo retrieval and delivery operation, and adjusting the corresponding balance control parameters of the drive system in real-time based on these parameters to maintain the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state; the real-time control parameters include real-time telescopic parameters and may also include real-time cargo weight. Therefore, implementing this invention enables dynamic balance control during cargo retrieval and delivery, thereby improving the stability and efficiency of cargo retrieval and delivery, and ultimately improving cargo handling efficiency and reliability, thus enhancing the operational efficiency of the intelligent logistics system.

Description

Technical Field

[0001] This invention relates to the field of logistics equipment technology, and in particular to a cargo pickup and delivery control method and device applied to intelligent logistics systems. Background Technology

[0002] Currently, the logistics industry is in a stage of rapid development. Intelligent logistics systems (such as automated storage and retrieval systems) can realize the full-process automation of operations from warehousing, storage, picking to outbound, thus having the advantages of high operational efficiency and low labor costs. They have become a core component in the intelligent upgrading process of modern logistics systems.

[0003] In current intelligent logistics systems, clamp-type shuttles are widely used as common cargo handling devices in various warehousing scenarios. However, existing clamp-type shuttle forks have significant technical defects that severely limit their efficiency in practical applications. For example, when the clamping arms of existing equipment extend to different lengths or the weight of the cargo changes, imbalance is prone to occur, which may damage the cargo and the equipment itself. In addition, existing equipment requires manual intervention to adjust when picking up and delivering goods of different sizes, affecting cargo handling efficiency.

[0004] Therefore, it is particularly important to provide a technical solution that can improve the stability and efficiency of cargo pickup and delivery, thereby improving cargo handling efficiency and reliability, and further enhancing the operational efficiency of intelligent logistics systems. Summary of the Invention

[0005] This invention provides a cargo handling control method and apparatus for use in intelligent logistics systems, which can improve the stability and efficiency of cargo handling, thereby improving cargo handling efficiency and reliability, and further enhancing the operational efficiency of intelligent logistics systems.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a cargo handling control method applied to an intelligent logistics system. The intelligent logistics system includes a cargo handling device, which is equipped with a bidirectional synchronous telescopic clamping mechanism and a drive system. The method includes:

[0007] Determine the cargo size parameters corresponding to the target cargo;

[0008] Based on the cargo size parameters and the determined cargo location, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform cargo retrieval and delivery operations, thereby transporting the target cargo to the determined target cargo location; wherein, the cargo retrieval and delivery operations include extension operations, cargo clamping operations, and retraction operations;

[0009] During the cargo handling operation, the real-time control parameters of the bidirectional synchronous telescopic clamping mechanism are monitored; and the balance control parameters of the drive system are adjusted in real time according to the real-time control parameters so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance.

[0010] The real-time control parameters include at least the real-time telescopic parameters corresponding to the bidirectional synchronous telescopic clamping mechanism; or, the real-time control parameters include at least the real-time telescopic parameters and also the real-time cargo weight corresponding to the target cargo.

[0011] As an optional implementation, in the first aspect of the present invention, the cargo handling device is further provided with an identification system, and the identification system includes a scanning unit and a laser measurement unit;

[0012] The determination of the cargo size parameters corresponding to the target cargo includes:

[0013] The scanning unit scans the QR code corresponding to the target goods to obtain the initial goods information of the target goods; the initial goods information includes at least a first size parameter.

[0014] The laser measurement unit performs a size measurement operation on the target cargo to obtain the second size parameter corresponding to the target cargo;

[0015] Based on the first size parameter and the second size parameter, determine the cargo size parameters corresponding to the target cargo.

[0016] As an optional implementation, in the first aspect of the present invention, the bidirectional synchronous telescopic clamping mechanism includes two symmetrically arranged clamping arms; each of the clamping arms is connected to the drive system.

[0017] The drive system includes a servo motor and a transmission assembly; the drive system is used to control the two clamping arms to extend / retract synchronously in the same direction, and / or to control the two clamping arms to grip the goods.

[0018] As an optional implementation, in the first aspect of the present invention, the step of controlling the bidirectional synchronous telescopic clamping mechanism through the drive system to perform a cargo retrieval and delivery operation based on the cargo size parameters and the determined cargo pickup location, so as to transport the target cargo to the determined target cargo location, includes:

[0019] Based on the cargo size parameters and the determined cargo pickup location, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform the extension operation, so that the two clamping arms extend synchronously to the cargo pickup location.

[0020] Based on the cargo size parameters, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform the cargo clamping operation, so as to clamp the target cargo through the two clamping arms;

[0021] Based on the determined location of the target cargo, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform the retraction operation, so that the two clamping arms retract to the location of the target cargo, thereby transporting the target cargo to the location of the target cargo.

[0022] As an optional implementation, in the first aspect of the present invention, the step of controlling the bidirectional synchronous telescopic clamping mechanism to perform the extension operation through the drive system, based on the cargo size parameters and the determined cargo pickup position, so that the two clamping arms extend synchronously to the cargo pickup position, includes:

[0023] After the servo motor is started, the extension control parameters corresponding to the drive system are determined based on the cargo size parameters and the determined cargo pickup position.

[0024] Based on the extension control parameters, the servo motor is controlled to drive the transmission assembly, thereby causing the two clamping arms to extend synchronously to the cargo waiting position.

[0025] As an optional implementation, in the first aspect of the invention, the step of controlling the bidirectional synchronous telescopic clamping mechanism through the drive system to perform the cargo clamping operation based on the cargo size parameters, so as to clamp the target cargo through the two clamping arms, includes:

[0026] Determine whether the cargo size parameters meet the preset size conditions corresponding to the drive system;

[0027] When it is determined that the cargo size parameters do not meet the preset size conditions, the spacing adjustment parameters corresponding to the drive system are determined based on the cargo size parameters.

[0028] According to the spacing adjustment parameters, the servo motor is controlled to drive the transmission component and perform a spacing adjustment operation to adjust the spacing between the two clamping arms.

[0029] When it is determined that the cargo size parameters meet the preset size conditions, or after the spacing adjustment operation is completed, the servo motor is controlled according to the determined clamping control parameters to drive the transmission component, thereby controlling the two clamping arms to clamp the target cargo.

[0030] As an optional implementation, in the first aspect of the invention, the real-time extension parameters include the real-time extension length of each of the clamping arms;

[0031] The step of adjusting the balance control parameters of the drive system in real time according to the real-time control parameters to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state includes:

[0032] During the extension operation, the first torque required by the servo motor is calculated based on the real-time extension length of each clamping arm.

[0033] During the retraction operation, the second torque required by the servo motor is calculated based on the real-time extension length of each clamping arm and the real-time weight of the cargo.

[0034] Based on the determined target torque, the servo motor is controlled to perform dynamic balance control operations so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance state.

[0035] The balance control parameters corresponding to the drive system include the target torque, and the target torque includes the first torque and / or the second torque.

[0036] A second aspect of the present invention discloses a cargo handling control device applied to an intelligent logistics system, the intelligent logistics system including a cargo handling device, the cargo handling device being equipped with a bidirectional synchronous telescopic clamping mechanism and a drive system; wherein, the device includes:

[0037] The determination module is used to determine the cargo size parameters corresponding to the target cargo.

[0038] The pick-up and delivery control module is used to control the bidirectional synchronous telescopic clamping mechanism through the drive system to perform the pick-up and delivery operation based on the cargo size parameters and the determined cargo location to transport the target cargo to the determined target cargo location; wherein, the pick-up and delivery operation includes extension operation, cargo clamping operation and retraction operation;

[0039] The balance control module is used to monitor the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism during the execution of the cargo picking and delivering operation; and to adjust the balance control parameters corresponding to the drive system in real time according to the real-time control parameters so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance state.

[0040] The real-time control parameters include at least the real-time telescopic parameters corresponding to the bidirectional synchronous telescopic clamping mechanism; or, the real-time control parameters include at least the real-time telescopic parameters and also the real-time cargo weight corresponding to the target cargo.

[0041] As an optional implementation, in a second aspect of the present invention, the cargo handling device is further provided with an identification system, and the identification system includes a scanning unit and a laser measurement unit;

[0042] The specific method by which the determining module determines the cargo size parameters corresponding to the target cargo includes:

[0043] The scanning unit scans the QR code corresponding to the target goods to obtain the initial goods information of the target goods; the initial goods information includes at least a first size parameter.

[0044] The laser measurement unit performs a size measurement operation on the target cargo to obtain the second size parameter corresponding to the target cargo;

[0045] Based on the first size parameter and the second size parameter, determine the cargo size parameters corresponding to the target cargo.

[0046] As an optional implementation, in a second aspect of the invention, the bidirectional synchronous telescopic clamping mechanism includes two symmetrically arranged clamping arms; each clamping arm is connected to the drive system.

[0047] The drive system includes a servo motor and a transmission assembly; the drive system is used to control the two clamping arms to extend / retract synchronously in the same direction, and / or to control the two clamping arms to grip the goods.

[0048] As an optional implementation, in a second aspect of the invention, the picking and delivering control module, based on the cargo size parameters and the determined cargo pickup location, controls the bidirectional synchronous telescopic clamping mechanism via the drive system to perform cargo picking and delivering operations, thereby transporting the target cargo to the determined target cargo location. The specific method includes:

[0049] Based on the cargo size parameters and the determined cargo pickup location, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform the extension operation, so that the two clamping arms extend synchronously to the cargo pickup location.

[0050] Based on the cargo size parameters, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform the cargo clamping operation, so as to clamp the target cargo through the two clamping arms;

[0051] Based on the determined location of the target cargo, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform the retraction operation, so that the two clamping arms retract to the location of the target cargo, thereby transporting the target cargo to the location of the target cargo.

[0052] As an optional implementation, in a second aspect of the invention, the picking and delivering control module, based on the cargo size parameters and the determined cargo pickup position, controls the bidirectional synchronous telescopic clamping mechanism via the drive system to perform the extension operation, so that the two clamping arms extend synchronously to the cargo pickup position. The specific method includes:

[0053] After the servo motor is started, the extension control parameters corresponding to the drive system are determined based on the cargo size parameters and the determined cargo pickup position.

[0054] Based on the extension control parameters, the servo motor is controlled to drive the transmission assembly, thereby causing the two clamping arms to extend synchronously to the cargo waiting position.

[0055] As an optional implementation, in a second aspect of the invention, the pick-and-place control module, based on the cargo size parameters, controls the bidirectional synchronous telescopic clamping mechanism via the drive system to perform the cargo clamping operation. The specific method of clamping the target cargo using the two clamping arms includes:

[0056] Determine whether the cargo size parameters meet the preset size conditions corresponding to the drive system;

[0057] When it is determined that the cargo size parameters do not meet the preset size conditions, the spacing adjustment parameters corresponding to the drive system are determined based on the cargo size parameters.

[0058] According to the spacing adjustment parameters, the servo motor is controlled to drive the transmission component and perform a spacing adjustment operation to adjust the spacing between the two clamping arms.

[0059] When it is determined that the cargo size parameters meet the preset size conditions, or after the spacing adjustment operation is completed, the servo motor is controlled according to the determined clamping control parameters to drive the transmission component, thereby controlling the two clamping arms to clamp the target cargo.

[0060] As an optional implementation, in a second aspect of the invention, the real-time extension parameters include the real-time extension length of each of the clamping arms;

[0061] The specific method by which the balance control module adjusts the corresponding balance control parameters of the drive system in real time according to the real-time control parameters, so as to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state, includes:

[0062] During the extension operation, the first torque required by the servo motor is calculated based on the real-time extension length of each clamping arm.

[0063] During the retraction operation, the second torque required by the servo motor is calculated based on the real-time extension length of each clamping arm and the real-time weight of the cargo.

[0064] Based on the determined target torque, the servo motor is controlled to perform dynamic balance control operations so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance state.

[0065] The balance control parameters corresponding to the drive system include the target torque, and the target torque includes the first torque and / or the second torque.

[0066] A third aspect of the present invention discloses another cargo pickup and delivery control device applied to an intelligent logistics system, the device comprising:

[0067] Memory containing executable program code;

[0068] A processor coupled to the memory;

[0069] The processor calls the executable program code stored in the memory to execute the cargo pickup and delivery control method for intelligent logistics systems disclosed in the first aspect of the present invention.

[0070] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the cargo pickup and delivery control method for intelligent logistics systems disclosed in the first aspect of the present invention.

[0071] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0072] In this embodiment of the invention, based on the determined cargo size parameters and the cargo's location to be retrieved, the bidirectional synchronous telescopic clamping mechanism is controlled by the drive system to transport the target cargo to the determined location. During the cargo retrieval and delivery process, the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism are monitored, and the corresponding balance control parameters of the drive system are adjusted in real time according to the real-time control parameters to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state. In this way, compared with existing cargo retrieval and delivery control methods, dynamic balance control can be achieved during cargo retrieval and delivery through a simple and reliable control method, avoiding equipment damage and cargo falling risks caused by imbalance during cargo retrieval and delivery, thereby improving the stability and efficiency of cargo retrieval and delivery, and further improving the efficiency and reliability of cargo handling. This meets the requirements of intelligent logistics systems for efficient, accurate, and safe cargo retrieval and delivery, and is conducive to further improving the operational efficiency of intelligent logistics systems. Attached Figure Description

[0073] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0074] Figure 1 This is a schematic flowchart of a cargo pickup and delivery control method for an intelligent logistics system disclosed in an embodiment of the present invention;

[0075] Figure 2 This is a flowchart illustrating another cargo pickup and delivery control method for an intelligent logistics system disclosed in an embodiment of the present invention.

[0076] Figure 3 This is a flowchart illustrating another cargo pickup and delivery control method for an intelligent logistics system disclosed in an embodiment of the present invention.

[0077] Figure 4 This is a schematic diagram of the structure of a cargo pickup and delivery control device for an intelligent logistics system disclosed in an embodiment of the present invention;

[0078] Figure 5 This is a schematic diagram of another cargo pickup and delivery control device for an intelligent logistics system disclosed in an embodiment of the present invention. Detailed Implementation

[0079] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0080] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0081] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0082] This invention discloses a cargo handling control method and apparatus for intelligent logistics systems. Based on determined cargo size parameters and the cargo's intended location, a bidirectional synchronous telescopic clamping mechanism is controlled by a drive system to transport the target cargo to the determined location. During the cargo handling process, the real-time control parameters of the bidirectional synchronous telescopic clamping mechanism are monitored, and the corresponding balance control parameters of the drive system are adjusted in real time to maintain the bidirectional synchronous telescopic clamping mechanism in a dynamic balanced state. Compared to existing cargo handling control methods, this invention achieves dynamic balance control during cargo handling through a simple and reliable method, avoiding equipment damage and cargo drop risks caused by imbalance during cargo handling. This improves the stability and efficiency of cargo handling, thereby enhancing cargo handling efficiency and reliability, meeting the high-efficiency, accurate, and safe cargo handling requirements of intelligent logistics systems, and ultimately contributing to further improving the operational efficiency of intelligent logistics systems. Detailed descriptions follow.

[0083] Example 1

[0084] Please see Figure 1 , Figure 1 This is a flowchart illustrating a cargo pickup and delivery control method for an intelligent logistics system disclosed in an embodiment of the present invention. Figure 1The described cargo handling control method for intelligent logistics systems can be applied to a cargo handling control device, which may include one of a control device, a control terminal, a control system, and a server. The server may be a local server or a cloud server; this embodiment of the invention is not limited thereto. Optionally, the intelligent logistics system may be an automated storage and retrieval system. Further, the intelligent logistics system may be applied to an automated warehousing system, a logistics distribution center, or a production and manufacturing system requiring efficient cargo handling; this embodiment of the invention is not limited thereto. The intelligent logistics system may include a cargo handling device. Optionally, the cargo handling device may be a handling device mounted on an intelligent shuttle vehicle. For example, the intelligent shuttle vehicle may be a clamping shuttle vehicle; this embodiment of the invention is not limited thereto. Further, the cargo handling device is equipped with a bidirectional synchronous telescopic clamping mechanism. The device includes a structure and a drive system; optionally, the bidirectional synchronous telescopic clamping mechanism may include two symmetrically arranged clamping arms, each of which can be connected to the drive system; further optionally, the clamping arms are ultra-long-distance clamping arms, where ultra-long distance describes the extension length of the clamping arm. For example, the maximum extension length of the clamping arm can be 1300mm, which is not limited in this embodiment; further optionally, the cargo handling device may also be equipped with a frame, and the bidirectional synchronous telescopic clamping mechanism may be mounted on the frame, which is not limited in this embodiment; additionally, optionally, the drive system may include a servo motor and a transmission assembly; wherein, the drive system can be used to control the two clamping arms to extend / retract synchronously in the same direction, and / or control the two clamping arms to clamp cargo; further optionally, the transmission assembly may include a transmission rack and a transmission gear, which is not limited in this embodiment. Figure 1 As shown, the cargo pickup and delivery control method applied to the intelligent logistics system may include the following operations:

[0085] 101. Determine the cargo size parameters corresponding to the target cargo.

[0086] In this embodiment of the invention, optionally, the cargo size parameters corresponding to the target cargo may include one or more of cargo length, cargo width, and cargo height, and this embodiment of the invention does not limit them.

[0087] 102. Based on the cargo size parameters and the determined cargo location, the bidirectional synchronous telescopic clamping mechanism is controlled by the drive system to perform cargo retrieval and delivery operations, so as to transport the target cargo to the determined target cargo location.

[0088] In this embodiment of the invention, the cargo handling operation may include an extension operation, a cargo clamping operation, and a retraction operation.

[0089] In this embodiment of the invention, optionally, the cargo pickup location can be a pre-set pickup location or a location determined in real time (such as the cargo location described in the real-time received instruction or the cargo location detected in real time). This embodiment of the invention does not impose any limitations.

[0090] In this embodiment of the invention, optionally, the location of the target goods can be preset or determined in real time based on the target goods (e.g., by analyzing the delivery location described in the real-time received instruction or the location of goods matching the target goods). This embodiment of the invention does not impose any limitations. Optionally, the location of the target goods can be the storage location of the target goods or the transit and temporary storage location of the target goods. This embodiment of the invention does not impose any limitations.

[0091] In an embodiment of the present invention, optionally, after the target cargo is transported to the determined target cargo location, the bidirectional synchronous telescopic clamping mechanism is controlled by the drive system to release the target cargo.

[0092] 103. During the cargo pick-up and delivery operation, monitor the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism.

[0093] In this embodiment of the invention, optionally, the real-time control parameters include at least the real-time telescopic parameters corresponding to the bidirectional synchronous telescopic clamping mechanism; or, the real-time control parameters include at least the real-time telescopic parameters and also the real-time cargo weight corresponding to the target cargo. This embodiment of the invention does not impose any limitations.

[0094] 104. Adjust the corresponding balance control parameters of the drive system in real time according to the real-time control parameters so that the bidirectional synchronous telescopic clamping mechanism can maintain a dynamic balance.

[0095] In this embodiment of the invention, more specifically, the balance control parameters are used to control the drive system to perform dynamic balance control operations so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance state.

[0096] As can be seen, the method described in the embodiments of the present invention can transport the target goods to the determined target goods position by controlling the bidirectional synchronous telescopic clamping mechanism through the drive system based on the determined goods size parameters and the goods to be picked up. During the goods picking and delivery process, the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism are monitored, and the balance control parameters corresponding to the drive system are adjusted in real time according to the real-time control parameters to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state. In this way, compared with the existing goods picking and delivery control methods, dynamic balance control can be achieved during the goods picking and delivery process through a simple and reliable control method, avoiding equipment damage and the risk of goods falling due to imbalance during the goods picking and delivery process, thereby improving the stability and efficiency of goods picking and delivery, and thus improving the efficiency and reliability of goods handling. This meets the needs of intelligent logistics systems for efficient, accurate and safe goods picking and delivery, and is conducive to further improving the operational efficiency of intelligent logistics systems.

[0097] In an optional embodiment, prior to step 101, the method may further include the following operations:

[0098] Determine whether the cargo handling device meets the preset start-up conditions;

[0099] When it is determined that the cargo handling device meets the preset start-up conditions, the operation of step 101 above is triggered.

[0100] Optionally, the cargo handling device may also be equipped with a cargo carrying unit (such as a pallet), but this embodiment of the invention does not limit this.

[0101] Further, optionally, determining whether the cargo handling device meets the preset start-up conditions may include the following operations:

[0102] Detect whether a positioning signal corresponding to the cargo carrier unit has been received; wherein, the positioning signal is used to indicate that the cargo carrier unit has reached the preset unit position;

[0103] When the arrival signal corresponding to the cargo carrying unit is detected, it is determined that the cargo handling device meets the preset start-up conditions;

[0104] When it is detected that no arrival signal corresponding to the cargo carrying unit has been received, it is determined that the cargo handling device does not meet the preset start-up conditions.

[0105] Optionally, the location where the goods are to be picked up can be the aforementioned unit location, and this embodiment of the invention does not impose any limitation.

[0106] As can be seen, this optional embodiment can only perform a series of data collection and data analysis operations for cargo retrieval and delivery control after determining that the cargo handling device meets the preset start conditions. This can improve the determination efficiency and reliability of the cargo retrieval and delivery process, and help improve the timeliness of cargo retrieval and delivery.

[0107] In an optional embodiment, the cargo handling device is further provided with an identification system, which may include a scanning unit and a laser measurement unit.

[0108] The scanning unit is used to scan the QR code corresponding to the goods; for example, the scanning unit can be a QR code scanning unit, but this embodiment of the invention is not limited thereto.

[0109] The laser measurement unit is used to measure the dimensions of the goods; for example, the laser measurement unit can be a ranging laser sensor, but this embodiment of the invention is not limited thereto.

[0110] Optionally, determining the cargo size parameters corresponding to the target cargo may include the following operations:

[0111] The scanning unit scans the QR code corresponding to the target goods to obtain the initial goods information of the target goods; wherein, the initial goods information includes at least the first size parameter;

[0112] The laser measurement unit performs a size measurement operation on the target cargo to obtain the second size parameter corresponding to the target cargo.

[0113] Based on the first and second size parameters, determine the cargo size parameters corresponding to the target cargo.

[0114] Optionally, the QR code corresponding to the target goods can be the QR code of the target goods marked on the target goods, or the QR code of the target goods displayed on the cargo carrying unit used to carry the target goods. This embodiment of the invention does not limit the specific QR code.

[0115] Optionally, the initial cargo information may also include the initial cargo weight of the target cargo, that is, the originally recorded cargo weight information, which is not limited in this embodiment of the invention; alternatively, the initial cargo weight of the target cargo may also be obtained by performing a weighing operation on the cargo carrying unit corresponding to the cargo carrying unit, which is not limited in this embodiment of the invention.

[0116] As can be seen, this optional embodiment can scan the QR code of the target cargo by scanning the target cargo to obtain the initial cargo information including the first size parameter, and measure the second size parameter of the target cargo by laser measurement unit. Then, by combining the first size parameter and the second size parameter, the accurate cargo size parameter of the cargo can be determined. The cargo size can be obtained in multiple ways, thereby improving the flexibility and accuracy of cargo size determination. This is conducive to improving the accuracy and efficiency of subsequent control of the bidirectional synchronous telescopic clamping mechanism to clamp the cargo.

[0117] In this optional embodiment, determining the cargo size parameters corresponding to the target cargo based on the first size parameter and the second size parameter may include the following operations:

[0118] By comparing the first and second dimension parameters, the dimension comparison results are obtained;

[0119] When the size comparison result is used to indicate that the size parameters are consistent, the first size parameter or the second size parameter is determined as the size parameter of the target cargo.

[0120] When the size comparison result indicates that the size parameters are inconsistent, a verification operation is performed on the first size parameter according to the second size parameter to obtain the cargo size parameter corresponding to the target cargo; wherein, the verification operation includes a verification operation and / or a correction operation; or, the above-mentioned step of scanning the QR code corresponding to the target cargo by the scanning unit to obtain the initial cargo information of the target cargo is re-executed.

[0121] As can be seen, this optional embodiment can also directly determine the first size parameter as the cargo size parameter when the comparison shows that the first size parameter and the second size parameter are consistent; otherwise, when the comparison shows that the two are inconsistent, the size parameter is verified to obtain the accurate cargo size, thereby further improving the accuracy of cargo size data determination. Alternatively, the QR code can be re-scanned, thereby reducing the occurrence of cargo delivery errors due to scanning errors or cargo replacement after scanning, which in turn helps to improve the accuracy of cargo delivery.

[0122] In an optional embodiment, the method may further include the following operations:

[0123] Before step 102, determine whether the initial weight of the target cargo is less than or equal to a preset weight threshold;

[0124] If it is determined that the initial weight of the target cargo is greater than the preset weight threshold, the operation of step 102 is not allowed.

[0125] And / or, during the execution of cargo pickup and delivery operations, determine whether the real-time weight of the target cargo is less than or equal to a preset weight threshold.

[0126] When the real-time weight of the target cargo is determined to be greater than the preset weight threshold, the control drive system stops working.

[0127] As can be seen, this optional embodiment can prevent the picking and delivery of goods or immediately stop picking and delivery of goods when the weight of the goods exceeds the threshold during the entire process of goods picking and delivery control. This reduces the possibility of device overload damage, improves the reliability and safety of the goods handling device, and thus helps to improve the reliability of goods picking and delivery and ensure the integrity of goods during transportation.

[0128] Example 2

[0129] Please see Figure 2 , Figure 2 This is a flowchart illustrating a cargo pickup and delivery control method for an intelligent logistics system disclosed in an embodiment of the present invention. Figure 2 The described cargo handling control method for intelligent logistics systems can be applied to cargo handling control devices. These devices may include one of a control device, a control terminal, a control system, and a server. The server may be a local server or a cloud server; this embodiment of the invention does not limit the specific implementation. The intelligent logistics system may include a cargo handling device, which is equipped with a bidirectional synchronous telescopic clamping mechanism and a drive system. Figure 2 As shown, the cargo pickup and delivery control method applied to the intelligent logistics system may include the following operations:

[0130] 201. Determine the cargo size parameters corresponding to the target cargo.

[0131] 202. Based on the cargo size parameters and the determined cargo pickup location, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform an extension operation, so that the two clamping arms extend synchronously to the cargo pickup location.

[0132] 203. Based on the cargo size parameters, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform cargo clamping operations, so as to clamp the target cargo through the two clamping arms.

[0133] 204. Based on the determined location of the target cargo, the bidirectional synchronous telescopic clamping mechanism is controlled by the drive system to perform a retraction operation, so that the two clamping arms retract to the location of the target cargo, thereby transporting the target cargo to the location of the target cargo.

[0134] 205. During the cargo handling operation, monitor the real-time control parameters of the bidirectional synchronous telescopic clamping mechanism.

[0135] In this embodiment of the invention, the real-time control parameters include at least the real-time extension parameters corresponding to the bidirectional synchronous telescopic clamping mechanism; or, the real-time control parameters include at least the real-time extension parameters and also the real-time weight of the target cargo. Optionally, the real-time extension parameters may include the real-time extension length of each clamping arm.

[0136] 206. Adjust the corresponding balance control parameters of the drive system in real time according to the real-time control parameters so that the bidirectional synchronous telescopic clamping mechanism can maintain a dynamic balance.

[0137] In this embodiment of the invention, for other detailed descriptions of steps 201 and 205-206, please refer to the detailed descriptions of steps 101 and 103-104 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0138] As can be seen, the method described in the embodiments of the present invention can transport the target goods to the determined target goods position by controlling the bidirectional synchronous telescopic clamping mechanism through the drive system based on the determined goods size parameters and the goods to be picked up. During the goods picking and delivery process, the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism are monitored, and the balance control parameters corresponding to the drive system are adjusted in real time according to the real-time control parameters to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state. In this way, compared with the existing goods picking and delivery control methods, dynamic balance control can be achieved during the goods picking and delivery process through a simple and reliable control method, avoiding equipment damage and the risk of goods falling due to imbalance during the goods picking and delivery process, thereby improving the stability and efficiency of goods picking and delivery, and thus improving the efficiency and reliability of goods handling. This meets the needs of intelligent logistics systems for efficient, accurate and safe goods picking and delivery, and is conducive to further improving the operational efficiency of intelligent logistics systems. Furthermore, based on the cargo size parameters and the determined cargo pickup location, the drive system controls the two clamping arms of the bidirectional synchronous telescopic clamping mechanism to extend synchronously to the cargo pickup location, then clamp the target cargo using the two clamping arms. Finally, based on the determined target cargo location, the drive system controls the two clamping arms of the bidirectional synchronous telescopic clamping mechanism to retract to the target cargo location, thereby transporting the target cargo to its intended location. This allows for more precise and phased control of the bidirectional synchronous telescopic clamping mechanism's extension, clamping, and retraction operations, thereby improving the control accuracy and stability of the clamping arms during the cargo clamping process, and ultimately facilitating more accurate and stable cargo pickup and delivery.

[0139] In an optional embodiment, the cargo handling device may also be equipped with a dynamic balance control system, which may further include an encoder and a controller.

[0140] Optionally, the encoder can be installed on the drive component corresponding to the clamping arm, which is not limited in this embodiment of the invention; the encoder can be used to monitor the extension length of the clamping arm.

[0141] The controller is electrically connected to the drive system and is used to control the drive system. For example, the controller can perform the operations of steps 202-204 and step 206, but this embodiment of the invention is not limited.

[0142] In this way, by setting up encoders and controllers, it is possible to monitor real-time control parameters more accurately and control the cargo handling process more precisely and efficiently.

[0143] In an optional embodiment, based on the cargo size parameters and the determined cargo pickup location, the bidirectional synchronous telescopic clamping mechanism is controlled by the drive system to perform an extension operation, so that the two clamping arms extend synchronously to the cargo pickup location. This may include the following operations:

[0144] After starting the servo motor, the extension control parameters of the drive system are determined based on the cargo size parameters and the determined cargo position to be picked up.

[0145] Based on the extension control parameters, the servo motor is controlled to drive the transmission components, thereby causing the two clamping arms to extend synchronously to the position where the goods are to be picked up.

[0146] Optionally, the elongation control parameters may include elongation control sub-parameters corresponding to the two clamping arms; further optionally, the elongation control sub-parameters corresponding to each clamping arm may include one or more combinations of extension direction, target elongation position, elongation acceleration, and a first target speed to be achieved during the elongation process, which is not limited in this embodiment of the invention; further, the elongation control sub-parameters corresponding to the two clamping arms may be the same.

[0147] Optionally, based on the extension control parameters, the servo motor is controlled to drive the transmission assembly, thereby causing the two gripping arms to extend synchronously to the cargo-ready position. Specifically, this can be achieved as follows:

[0148] The controller controls the servo motor to rotate in the first rotation direction according to the extension control parameters, thereby driving the transmission component to rotate, which in turn drives the two clamping arms to extend synchronously to the cargo waiting position.

[0149] As can be seen, this optional embodiment can determine the extension control parameters of the drive system according to the cargo size parameters and the determined cargo position after the servo motor is started. Based on the extension control parameters, the servo motor drives the transmission component, thereby driving the two clamping arms to extend synchronously to the cargo position. This can further improve the driving control accuracy of the clamping arms, which is conducive to further improving the control accuracy and stability of the clamping arms extending to the cargo position.

[0150] In an optional embodiment, based on cargo size parameters, the bidirectional synchronous telescopic clamping mechanism is controlled by a drive system to perform a cargo clamping operation, thereby clamping the target cargo using two clamping arms. This operation may include the following:

[0151] Determine whether the cargo size parameters meet the preset size conditions corresponding to the drive system;

[0152] When it is determined that the cargo size parameters do not meet the preset size conditions, the corresponding spacing adjustment parameters of the drive system are determined based on the cargo size parameters.

[0153] Based on the spacing adjustment parameters, the servo motor is controlled to drive the transmission components and perform the spacing adjustment operation to adjust the spacing between the two clamping arms.

[0154] When it is determined that the cargo size parameters meet the preset size conditions, or after the spacing adjustment operation is completed, the servo motor is controlled to drive the transmission component according to the determined clamping control parameters, thereby controlling the two clamping arms to clamp the target cargo.

[0155] Optionally, the clamping control parameters can be preset or determined based on the cargo size parameters; this embodiment of the invention does not impose any limitations.

[0156] Optionally, determining whether the cargo size parameters meet the preset size conditions corresponding to the drive system may include the following operations:

[0157] Determine whether the target size value in the cargo size parameters is within a preset size range; wherein, the target size value can be one of the cargo length, cargo width and cargo height, and the preset size range includes at least one preset size threshold (e.g., maximum size threshold and / or minimum size threshold).

[0158] When it is determined that the target size value in the cargo size parameters is within the preset size range, it is determined that the cargo size parameters meet the preset size conditions.

[0159] When it is determined that the target size value in the cargo size parameters is not within the preset size range, it is determined that the cargo size parameters do not meet the preset size conditions.

[0160] Optionally, the spacing adjustment parameters may include a first spacing value to be reduced or a second spacing value to be increased, which is not limited in this embodiment of the invention; further optionally, according to the spacing adjustment parameters, the servo motor is controlled to drive the transmission component to perform the spacing adjustment operation to adjust the spacing between the two clamping arms, which can be specifically as follows:

[0161] The controller, based on a first spacing value, controls the servo motor to drive the transmission assembly, thereby reducing the spacing between the two clamping arms; or...

[0162] The controller controls the servo motor to drive the transmission components based on the second spacing value, thereby increasing the spacing between the two clamping arms.

[0163] As can be seen, this optional embodiment can determine the corresponding spacing adjustment parameters of the drive system based on the cargo size parameters when it is determined that the cargo size parameters do not meet the preset size conditions of the drive system. Then, based on the spacing adjustment parameters, it controls the servo motor to drive the transmission component and adjust the spacing between the two clamping arms. Conversely, when it is determined that the cargo size parameters meet the preset size conditions, or after the spacing adjustment operation is completed, it controls the servo motor to drive the transmission component based on the determined clamping control parameters, thereby controlling the two clamping arms to clamp the target cargo. This allows for flexible adjustment of the spacing between the clamping arms when the cargo size is large or small, without manual intervention. This facilitates more efficient, accurate, and stable cargo clamping, reduces the possibility of cargo falling during the handling process, and further improves the stability and reliability of the cargo handling process.

[0164] In an optional embodiment, based on the determined target cargo location, the bidirectional synchronous telescopic clamping mechanism is controlled by the drive system to perform a retraction operation, so that the two clamping arms retract to the target cargo location, thereby transporting the target cargo to the target cargo location. This may include the following operations:

[0165] Based on the determined location of the target cargo, determine the corresponding retraction control parameters for the drive system;

[0166] Based on the retraction control parameters, the servo motor is controlled to drive the transmission components, thereby causing the two clamping arms to retract to the target cargo position, thus transporting the target cargo to the target cargo position.

[0167] Optionally, the retraction control parameters may include retraction control sub-parameters corresponding to the two clamping arms; further optionally, the retraction control sub-parameters corresponding to each clamping arm may include one or more combinations of retraction direction, target retraction position, retraction acceleration, and a second target speed to be achieved during the retraction process, which is not limited in this embodiment of the invention; further, the retraction control sub-parameters corresponding to the two clamping arms may be the same.

[0168] Optionally, based on the retraction control parameters, the servo motor is controlled to drive the transmission assembly, thereby causing the two clamping arms to retract to the target cargo position, thus transporting the target cargo to the target cargo position. Specifically:

[0169] The controller, based on the retraction control parameters, controls the servo motor to rotate in the second rotation direction, thereby driving the two clamping arms to retract to the target cargo position, thus transporting the target cargo to the target cargo position.

[0170] Optionally, the second rotation direction may be the opposite of the first rotation direction in the elongation operation, and this embodiment of the invention does not limit it.

[0171] As can be seen, this optional embodiment can determine the retraction control parameters corresponding to the drive system based on the target cargo position, and then control the servo motor drive transmission component based on the retraction control parameters to drive the two clamping arms to retract to the target cargo position. This can further improve the drive control accuracy of the clamping arms, thereby improving the control accuracy and stability of the clamping arms retracting to the target cargo position, and thus improving the efficiency and accuracy of transporting goods to the target position.

[0172] In an optional embodiment, monitoring the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism may include the following operations:

[0173] The encoder monitors the real-time extension length of each clamping arm;

[0174] The weighing unit detects the real-time weight of the target cargo.

[0175] Optionally, the encoder monitors the real-time extension length of each gripping arm, which may include the following operations:

[0176] The encoder monitors the real-time sensor data of each clamping arm and converts the data format of the real-time sensor data into a data format that the controller can analyze, thereby obtaining the real-time extension length of each clamping arm.

[0177] As can be seen, this optional embodiment can monitor the real-time extension length of each clamping arm by the encoder, and can also detect the real-time weight of the target cargo by the weighing unit, which is beneficial to improving the monitoring efficiency and accuracy of real-time control parameters.

[0178] In an optional embodiment, adjusting the balance control parameters of the drive system in real time according to the real-time control parameters to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state may include the following operations:

[0179] During the extension operation, the first torque required by the servo motor is calculated based on the real-time extension length of each clamping arm.

[0180] During the retraction operation, the second torque required by the servo motor is calculated based on the real-time extension length of each clamping arm and the real-time weight of the cargo.

[0181] Based on the determined target torque, the servo motor is controlled to perform dynamic balance control operations to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state.

[0182] The balance control parameters corresponding to the drive system include the target torque, and the target torque includes a first torque and / or a second torque.

[0183] It can be understood that the larger the real-time extension length, the greater the torque required by the servo motor; the smaller the real-time extension length, the smaller the torque required by the servo motor; furthermore, the larger the real-time extension length and the greater the real-time cargo weight, the greater the torque required by the servo motor.

[0184] As can be seen, this optional embodiment can calculate the first torque required by the servo motor based on the real-time extension length of each clamping arm during the extension operation, and calculate the second torque required by the servo motor based on the real-time extension length of each clamping arm and the real-time weight of the goods during the retraction operation. Based on the determined torque, the servo motor is controlled to perform dynamic balance control operations, so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance state. It can flexibly and timely adjust the servo motor torque according to the actual extension of the clamping arms and the load conditions, thereby improving the flexibility and accuracy of dynamic balance control in the goods handling process. This facilitates more flexible and efficient control of the clamping arms to maintain a stable dynamic balance state, which in turn improves the stability of the goods handling process, further enhancing the safety and integrity of the goods during handling.

[0185] In this embodiment of the invention, for example, the cargo handling device may be equipped with a frame, a bidirectional synchronous telescopic clamping mechanism, a dynamic balance control system, a cargo size recognition system (i.e., the aforementioned recognition system), and a drive system; this embodiment of the invention does not impose any limitations; wherein:

[0186] The bidirectional synchronous telescopic clamping mechanism is mounted on the frame and includes two symmetrically arranged clamping arms. The clamping arms are connected to the drive system and can extend to the left and right simultaneously under the drive system, with a maximum extension distance of 1.3 meters.

[0187] The cargo size recognition system includes a QR code scanning module and a distance measuring laser sensor. The QR code scanning module is used to scan the QR code on the pallet to obtain basic information about the pallet (such as weight, size, etc.), and the distance measuring laser sensor is used to measure the actual size of the cargo in real time to verify and supplement the information obtained from the QR code.

[0188] The dynamic balance control system includes an encoder and a controller. The encoder is installed on the drive component of the clamping arm to monitor the extension length of the clamping arm in real time and transmit the monitored signal to the controller. The controller is connected to the drive system and automatically adjusts the torque of the motor in the drive system according to the extension length monitored by the encoder and the cargo weight information obtained by the cargo size recognition system to maintain the dynamic balance of the clamping arm during the cargo picking and delivery process.

[0189] The drive system includes a servo motor and a gear rack. The servo motor is connected to the transmission gear, and the transmission gear is connected to the transmission rack. The servo motor drives the rack to rotate, thereby causing the clamping arms to extend or retract. It can also drive the rack to adjust the distance between the two clamping arms based on the cargo size information obtained by the cargo size recognition system.

[0190] In an embodiment of the present invention, for example, when the cargo handling control method for intelligent logistics systems is applied to the aforementioned cargo handling device, the method may include the following operations:

[0191] The cargo size recognition system is activated. The QR code scanning module scans the QR code on the cargo to obtain information that the cargo size is 1m×1m×0.3m and the weight is 300kg. At the same time, the ranging laser sensor measures the actual size of the cargo. The measurement result is consistent with the size information obtained from the QR code, confirming that the cargo parameters are accurate.

[0192] Based on the dimensions and weight of the goods and the target pickup / delivery location (e.g., 1.2 meters to the right of the device), the controller activates the servo motor in the drive system. The servo motor drives the gears to rotate, causing the two gripping arms of the bidirectional synchronous extension mechanism to extend simultaneously to the right. During the extension process, the encoder monitors the extension length of the gripping arms in real time and transmits the data to the controller.

[0193] The controller calculates the required motor torque in real time based on the extension length of the clamping arm monitored by the encoder (gradually increasing from 0 to 1.2 meters) and the weight of the cargo (300 kg). When the extension length of the clamping arm is small, the required torque is small. As the extension length increases, the torque gradually increases to maintain the dynamic balance of the clamping arm during the extension process and avoid swaying or imbalance.

[0194] When the clamping arm extends to 1.2 meters and accurately reaches the cargo position, the controller controls the clamping arm to clamp the cargo. Subsequently, the controller controls the servo motor to rotate in the opposite direction, driving the lead screw to retract the clamping arm and deliver the cargo to the designated storage location.

[0195] Throughout the entire pickup and delivery process, the weight of the goods (300kg) did not exceed the preset threshold of 500kg, the device operated normally, and the pickup and delivery operation was successfully completed.

[0196] As another example, the flow of this method can be found in [reference needed]. Figure 3 , Figure 3 This is a flowchart illustrating another cargo pickup and delivery control method for an intelligent logistics system disclosed in an embodiment of the present invention; wherein, as... Figure 3 As shown, the method may include the following operations:

[0197] After detecting the pallet arrival signal, the QR code scanning system is activated to scan the code and obtain the pallet information from the MES (Manufacturing Execution System). If the scan fails or an error occurs, the QR code is rescanned, or the QR code scanning system can be restarted. If the scan is successful, the dimensions of the goods on the pallet are measured using a laser ranging module, and the weight of the goods is measured using a weighing platform (pallet weighing). Based on the measured dimensions of the goods, the dimensions of the goods in the MES data are verified. If the data verification fails, the QR code scanning system is restarted to scan the code again. If the data verification is successful, the control system (i.e., the controller) controls the servo motor to drive the forks (i.e., the aforementioned clamping arms) to pick up the goods, and adjusts the servo torque speed in real time according to the pallet information (which may include the aforementioned real-time extension length and real-time goods weight) to control the forks to extend to the scheduling location and clamp the goods. Then, the control system controls the servo motor to drive the forks to release the goods. This embodiment of the invention is not limited.

[0198] Example 3

[0199] Please see Figure 4 , Figure 4 This is a schematic diagram of a cargo pickup and delivery control device for an intelligent logistics system disclosed in an embodiment of the present invention. Figure 4 The described cargo handling control device for intelligent logistics systems may include one of the following: control equipment, control terminal, control system, and server. The server may be a local server or a cloud server; this embodiment of the invention is not limited thereto. The intelligent logistics system may include a cargo handling device, which is equipped with a bidirectional synchronous telescopic clamping mechanism and a drive system; this embodiment of the invention is not limited thereto. Figure 4 As shown, the cargo pickup and delivery control device applied to the intelligent logistics system may include:

[0200] The determination module 301 is used to determine the cargo size parameters corresponding to the target cargo;

[0201] The pick-up and delivery control module 302 is used to control the bidirectional synchronous telescopic clamping mechanism through the drive system to perform the pick-up and delivery operation based on the cargo size parameters and the determined cargo location to be picked up, so as to transport the target cargo to the determined target cargo location; wherein, the pick-up and delivery operation includes extension operation, cargo clamping operation and retraction operation;

[0202] The balance control module 303 is used to monitor the real-time control parameters of the bidirectional synchronous telescopic clamping mechanism during the cargo handling operation; and to adjust the balance control parameters of the drive system in real time according to the real-time control parameters so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance.

[0203] The real-time control parameters include at least the real-time telescopic parameters corresponding to the bidirectional synchronous telescopic clamping mechanism; or, the real-time control parameters include at least the real-time telescopic parameters and also the real-time cargo weight corresponding to the target cargo.

[0204] As can be seen, the device described in the embodiments of the present invention can transport the target goods to the determined target goods position by controlling the bidirectional synchronous telescopic clamping mechanism through the drive system according to the determined goods size parameters and the goods to be picked up position. During the goods picking and delivery process, the device monitors the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism, and adjusts the corresponding balance control parameters of the drive system in real time according to the real-time control parameters to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state. In this way, compared with the existing goods picking and delivery control methods, dynamic balance control can be achieved during the goods picking and delivery process through a simple and reliable control method, avoiding equipment damage and the risk of goods falling due to imbalance during the goods picking and delivery process, thereby improving the stability and efficiency of goods picking and delivery, and thus improving the efficiency and reliability of goods handling. This meets the needs of intelligent logistics systems for efficient, accurate and safe goods picking and delivery, and is conducive to further improving the operational efficiency of intelligent logistics systems.

[0205] In an optional embodiment, the cargo handling device is further provided with an identification system, which includes a scanning unit and a laser measurement unit;

[0206] The specific method by which the determining module 301 determines the cargo size parameters corresponding to the target cargo may include:

[0207] The scanning unit scans the QR code corresponding to the target goods to obtain the initial goods information of the target goods; the initial goods information includes at least the first size parameter.

[0208] The laser measurement unit performs a size measurement operation on the target cargo to obtain the second size parameter corresponding to the target cargo.

[0209] Based on the first and second size parameters, determine the cargo size parameters corresponding to the target cargo.

[0210] As can be seen, the device described in this optional embodiment can scan the QR code of the target cargo by the scanning unit to obtain the initial cargo information of the target cargo, including the first size parameter, and measure the second size parameter of the target cargo by the laser measuring unit. Then, by combining the first size parameter and the second size parameter, the accurate cargo size parameter of the cargo can be determined. The cargo size can be obtained in multiple ways, thereby improving the flexibility and accuracy of cargo size determination. This is conducive to improving the accuracy and efficiency of subsequent control of the bidirectional synchronous telescopic clamping mechanism to clamp the cargo.

[0211] In an optional embodiment, the bidirectional synchronous telescopic clamping mechanism includes two symmetrically arranged clamping arms; each clamping arm is connected to a drive system.

[0212] The drive system includes a servo motor and a transmission assembly; the drive system is used to control the two gripping arms to extend / retract synchronously in the same direction, and / or to control the two gripping arms to grip the goods.

[0213] As can be seen, the device described in this optional embodiment can improve the synchronous control accuracy of the two clamping arms by setting two symmetrically arranged clamping arms in the bidirectional synchronous telescopic clamping mechanism and controlling the clamping arms by a drive system including a servo motor and a transmission component. This is beneficial to improving the stability and accuracy of cargo handling control through the two synchronously telescopic clamping arms.

[0214] In this optional embodiment, the specific method by which the pick-up and delivery control module 302, based on the cargo size parameters and the determined cargo location, controls the bidirectional synchronous telescopic clamping mechanism through the drive system to perform cargo pick-up and delivery operations, so as to transport the target cargo to the determined target cargo location, may include:

[0215] Based on the cargo size parameters and the determined cargo pickup location, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform an extension operation, so that the two clamping arms extend synchronously to the cargo pickup location.

[0216] Based on the cargo size parameters, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform cargo clamping operations, so as to clamp the target cargo through the two clamping arms.

[0217] Based on the determined location of the target cargo, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform a retraction operation, so that the two clamping arms retract to the location of the target cargo, thereby transporting the target cargo to the target cargo location.

[0218] As can be seen, the device described in this optional embodiment can also control the two clamping arms of the bidirectional synchronous telescopic clamping mechanism to extend synchronously to the cargo position according to the cargo size parameters and the determined cargo position, and then clamp the target cargo with the two clamping arms. Then, according to the determined target cargo position, the two clamping arms of the bidirectional synchronous telescopic clamping mechanism are controlled to retract to the target cargo position by the drive system, thereby transporting the target cargo to the target cargo position. This allows for more precise and phased control of the bidirectional synchronous telescopic clamping mechanism to perform the extension, clamping, and retraction operations, which helps to improve the control accuracy and stability of the clamping arms during the cargo clamping process, and thus facilitates more precise and stable cargo retrieval and delivery.

[0219] In this optional embodiment, optionally, the pick-up and delivery control module 302, based on the cargo size parameters and the determined cargo pickup position, controls the bidirectional synchronous telescopic clamping mechanism through the drive system to perform an extension operation, so that the two clamping arms extend synchronously to the cargo pickup position. The specific method may include:

[0220] After starting the servo motor, the extension control parameters of the drive system are determined based on the cargo size parameters and the determined cargo position to be picked up.

[0221] Based on the extension control parameters, the servo motor is controlled to drive the transmission components, thereby causing the two clamping arms to extend synchronously to the position where the goods are to be picked up.

[0222] As can be seen, the device described in this optional embodiment can also determine the extension control parameters corresponding to the drive system after the servo motor is started, based on the cargo size parameters and the determined cargo pickup position. Based on the extension control parameters, the servo motor drives the transmission component, thereby driving the two clamping arms to extend synchronously to the cargo pickup position. This can further improve the accuracy of the drive control of the clamping arms, thereby helping to further improve the control accuracy and stability of the clamping arms extending out of the cargo pickup position.

[0223] In this optional embodiment, the pick-and-place control module 302, based on the cargo size parameters, controls the bidirectional synchronous telescopic clamping mechanism via the drive system to perform a cargo clamping operation. The specific method of clamping the target cargo using the two clamping arms may include:

[0224] Determine whether the cargo size parameters meet the preset size conditions corresponding to the drive system;

[0225] When it is determined that the cargo size parameters do not meet the preset size conditions, the corresponding spacing adjustment parameters of the drive system are determined based on the cargo size parameters.

[0226] Based on the spacing adjustment parameters, the servo motor is controlled to drive the transmission components and perform the spacing adjustment operation to adjust the spacing between the two clamping arms.

[0227] When it is determined that the cargo size parameters meet the preset size conditions, or after the spacing adjustment operation is completed, the servo motor is controlled to drive the transmission component according to the determined clamping control parameters, thereby controlling the two clamping arms to clamp the target cargo.

[0228] As can be seen, the device described in this optional embodiment can also determine the corresponding spacing adjustment parameters of the drive system based on the cargo size parameters when it is determined that the cargo size parameters do not meet the preset size conditions corresponding to the drive system. Based on the spacing adjustment parameters, the device controls the servo motor to drive the transmission component and adjust the spacing between the two clamping arms. Furthermore, when it is determined that the cargo size parameters meet the preset size conditions, or after the spacing adjustment operation is completed, the device controls the servo motor to drive the transmission component based on the determined clamping control parameters, thereby controlling the two clamping arms to clamp the target cargo. This allows for flexible adjustment of the spacing between the clamping arms when the cargo size is large or small, without manual intervention. This facilitates more efficient, accurate, and stable cargo clamping, reduces the possibility of cargo falling during the handling process, and further improves the stability and reliability of the cargo handling process.

[0229] In this optional embodiment, the real-time extension parameters may optionally include the real-time extension length of each clamping arm;

[0230] The balance control module 303 adjusts the corresponding balance control parameters of the drive system in real time according to the real-time control parameters to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state. The specific methods may include:

[0231] During the extension operation, the first torque required by the servo motor is calculated based on the real-time extension length of each clamping arm.

[0232] During the retraction operation, the second torque required by the servo motor is calculated based on the real-time extension length of each clamping arm and the real-time weight of the cargo.

[0233] Based on the determined target torque, the servo motor is controlled to perform dynamic balance control operations to keep the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state.

[0234] The balance control parameters corresponding to the drive system include the target torque, and the target torque includes a first torque and / or a second torque.

[0235] As can be seen, the device described in this optional embodiment can also calculate the first torque required by the servo motor based on the real-time extension length of each clamping arm during the extension operation, and calculate the second torque required by the servo motor based on the real-time extension length of each clamping arm and the real-time weight of the cargo during the retraction operation. Based on the determined torque, the servo motor is controlled to perform dynamic balance control operations to maintain the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state. This allows for flexible and timely adjustment of the servo motor torque according to the actual extension and load conditions of the clamping arms, thereby improving the flexibility and accuracy of dynamic balance control during cargo handling. This, in turn, facilitates more flexible and efficient control of the clamping arms to maintain a stable dynamic balance, further enhancing the stability of the cargo handling process and improving the safety and integrity of the cargo during handling.

[0236] Example 4

[0237] Please see Figure 5 , Figure 5 This is a schematic diagram of another cargo pickup and delivery control device for an intelligent logistics system disclosed in an embodiment of the present invention. Figure 5 As shown, the cargo pickup and delivery control device applied to the intelligent logistics system may include:

[0238] Memory 401 storing executable program code;

[0239] Processor 402 coupled to memory 401;

[0240] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the cargo pickup and delivery control method applied to the intelligent logistics system as described in Embodiment 1 or Embodiment 2 of the present invention.

[0241] Example 5

[0242] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the cargo pickup and delivery control method applied to an intelligent logistics system as described in Embodiment 1 or Embodiment 2 of this invention.

[0243] Example 6

[0244] This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the cargo pickup and delivery control method for an intelligent logistics system described in Embodiment 1 or Embodiment 2.

[0245] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0246] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0247] Finally, it should be noted that the cargo pickup and delivery control method and apparatus for intelligent logistics systems disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cargo pickup and delivery control method applied to an intelligent logistics system, characterized in that, The intelligent logistics system includes a cargo handling device, which is equipped with a bidirectional synchronous telescopic clamping mechanism, a drive system, and an identification system. The identification system includes a scanning unit and a laser measurement unit. The bidirectional synchronous telescopic clamping mechanism includes two symmetrically arranged clamping arms. Each clamping arm is connected to the drive system. The drive system includes a servo motor and a transmission assembly. The drive system is used to control the two clamping arms to extend / retract synchronously in the same direction, and to control the two clamping arms to clamp cargo. The method includes: The scanning unit scans the QR code corresponding to the target goods to obtain the initial goods information of the target goods; wherein the initial goods information includes at least a first size parameter; the laser measurement unit performs a size measurement operation on the target goods to obtain a second size parameter corresponding to the target goods; and the goods size parameter corresponding to the target goods is determined based on the first size parameter and the second size parameter. After the servo motor is started, the extension control parameters corresponding to the drive system are determined based on the cargo size parameters and the determined cargo pickup position. Based on the extension control parameters, the servo motor is controlled to drive the transmission assembly, thereby causing the two clamping arms to extend synchronously to the cargo pickup position. It is then determined whether the cargo size parameters meet the preset size conditions corresponding to the drive system. If the cargo size parameters do not meet the preset size conditions, the spacing adjustment parameters corresponding to the drive system are determined based on the cargo size parameters. Based on the spacing adjustment parameters, the servo motor is controlled to drive the transmission assembly to perform a spacing adjustment operation, adjusting the spacing between the two clamping arms. If the cargo size parameters meet the preset size conditions, or after completing the spacing adjustment operation, the servo motor is controlled to drive the transmission assembly based on the determined clamping control parameters, thereby controlling the two clamping arms to clamp the target cargo. Based on the determined target cargo position, the drive system controls the bidirectional synchronous telescopic clamping mechanism to perform a retraction operation, causing the two clamping arms to retract to the target cargo position, thereby transporting the target cargo to the target cargo position. During the cargo handling operation, real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism are monitored. The cargo handling operation includes an extension operation, a cargo clamping operation, and a retraction operation. The real-time control parameters include the real-time extension parameters of the bidirectional synchronous telescopic clamping mechanism and the real-time weight of the target cargo. The real-time extension parameters include the real-time extension length of each clamping arm. During the extension operation, a first torque required by the servo motor is calculated based on the real-time extension length of each clamping arm. During the retraction operation, a second torque required by the servo motor is calculated based on the real-time extension length of each clamping arm and the real-time cargo weight. Based on the determined target torque, the servo motor is controlled to perform dynamic balance control to maintain the bidirectional synchronous telescopic clamping mechanism in a dynamic balance state. The target torque includes the first torque and / or the second torque.

2. A cargo pickup and delivery control device applied to an intelligent logistics system, characterized in that, The intelligent logistics system includes a cargo handling device, which is equipped with a bidirectional synchronous telescopic clamping mechanism and a drive system; wherein, the cargo pick-up and delivery control device is used to execute the cargo pick-up and delivery control method applied to the intelligent logistics system as described in claim 1, and the cargo pick-up and delivery control device includes: The determination module is used to determine the cargo size parameters corresponding to the target cargo. The pick-up and delivery control module is used to control the bidirectional synchronous telescopic clamping mechanism through the drive system to perform the pick-up and delivery operation based on the cargo size parameters and the determined cargo location to transport the target cargo to the determined target cargo location; wherein, the pick-up and delivery operation includes extension operation, cargo clamping operation and retraction operation; The balance control module is used to monitor the real-time control parameters corresponding to the bidirectional synchronous telescopic clamping mechanism during the execution of the cargo picking and delivering operation; and to adjust the balance control parameters corresponding to the drive system in real time according to the real-time control parameters so that the bidirectional synchronous telescopic clamping mechanism maintains a dynamic balance state. The real-time control parameters include at least the real-time telescopic parameters corresponding to the bidirectional synchronous telescopic clamping mechanism; or, the real-time control parameters include at least the real-time telescopic parameters and also the real-time cargo weight corresponding to the target cargo.

3. A cargo pickup and delivery control device applied to an intelligent logistics system, characterized in that, The cargo retrieval and delivery control device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the cargo pickup and delivery control method applied to the intelligent logistics system as described in claim 1.

4. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the cargo pickup and delivery control method for an intelligent logistics system as described in claim 1.

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