Automatic loading / unloading machine control method, control device, and readable storage medium

Abstract

Provided are an automatic loader / unloader control method, device, control equipment, and readable storage medium. The method includes the steps of: when a fault point is detected during the process of the automatic loader / unloader (112) and the transport robot (111) performing a current task, controlling a sub-equipment corresponding to the fault point in the automatic loader / unloader (112) to go offline; and after the fault point is removed, controlling the offline sub-equipment to go online, performing initialization processing on the transport robot (111) and the offline sub-equipment, and having the transport robot (111) and the offline sub-equipment perform the current task again. The method can realize orderly online and offline of the automatic loader / unloader (112).

Description

[Technical Field]

[0001] This application claims priority from a Chinese patent application filed with the China Patent Office on June 24, 2021, application number 202110706663.5, entitled "Automatic loading / unloading machine control method, device, control equipment and readable storage medium," the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the technical field of smart warehouses, and in particular to an automatic loading / unloading machine control method , regulation The present invention relates to a control device and a readable storage medium. [Background technology]

[0003] During the interaction between the automatic loading / unloading machine and the transport robot, there is a high possibility that a misalignment of the container will cause an error in loading / unloading goods, or that a malfunction will occur due to a problem with the equipment itself. When a malfunction occurs, a maintenance worker must be sent to the site to resolve the malfunction, but the automatic loading / unloading machine is a large machine and must be brought online or offline in an orderly manner.

[0004] Currently, the online and offline operations of the automatic loading and unloading machine are all controlled manually by the workers, who adjust the automatic loading and unloading machine to go online or offline according to the loading and unloading situation on site. Summary of the Invention [Problem to be solved by the invention]

[0005] However, when a malfunction occurs, it is often difficult for an operator to immediately control the automatic loader / unloader to go offline, making it difficult to ensure that the automatic loader / unloader is brought online and offline in an orderly manner. [Means for solving the problem]

[0006] In a first aspect, an automatic unloader control method provided by an embodiment of the present disclosure includes a control device and an automatic unloader. Machine andand a transport robot, and when a fault point is detected in the process of the automatic loading / unloading machine and the transport robot executing a current task, the control device controls a sub-device corresponding to the fault point in the automatic loading / unloading machine to go offline; and after the fault point is removed, controls the offline sub-device to go online, performs initialization processing on the transport robot and the offline sub-device, and has the transport robot and the offline sub-device execute the current task again.

[0007] In one optional embodiment, when a failure point is detected, the step of controlling a sub-equipment in the automatic unloading machine corresponding to the failure point to take it offline includes a step of controlling a sub-equipment in the automatic unloading machine corresponding to the failure point to take it offline when a failure point is detected, and acquiring the position of the transport robot; and a step of controlling the transport robot to stop its movement when the position of the transport robot is within a designated work area.

[0008] In one optional embodiment, when a failure point is detected, the step of controlling a sub-device corresponding to the failure point in the automatic unloader to take it offline includes the steps of: when a failure point is detected, detecting whether the sub-device corresponding to the failure point has an uncompleted task command; and, if the sub-device corresponding to the failure point has an uncompleted task command, controlling the sub-device corresponding to the failure point to complete execution of the uncompleted task command, and controlling the sub-device corresponding to the failure point to take it offline.

[0009] In one optional embodiment, the step of performing initialization processing on the transport robot and the offline sub-equipment includes a step of controlling the transport robot to switch it to a working state before the automatic loading / unloading machine and the transport robot interacted, and a step of controlling the offline sub-equipment to switch it to a working state before the automatic loading / unloading machine and the transport robot interacted.

[0010] In one optional embodiment, the step of controlling the transport robot to switch to a working state before the automatic loading / unloading machine and the transport robot interacted, and controlling the offline sub-equipment to switch to a working state before the automatic loading / unloading machine and the transport robot interacted includes a step of detecting whether the execution of operations of the transport robot and the offline sub-equipment is being hindered by an object, and if not being hindered by an object, a step of controlling the transport robot to switch to a working state before the automatic loading / unloading machine and the transport robot interacted, and controlling the offline sub-equipment to switch to a working state before the automatic loading / unloading machine and the transport robot interacted.

[0011] In one optional embodiment, after the step of controlling the transport robot to switch to a working state before the automatic loader and the transport robot interacted and controlling the offline sub-equipment to switch to a working state before the automatic loader and the transport robot interacted, the method further includes a step of controlling the transport robot and the offline sub-equipment to execute the current task again, and if the transport robot and the offline sub-equipment have not completed the current task, a step of returning to control the transport robot to switch to a working state before the automatic loader and the transport robot interacted and controlling the offline sub-equipment to switch to a working state before the automatic loader and the transport robot interacted.

[0012] In one optional embodiment, the step of performing initialization processing on the transport robot and the offline sub-equipment further includes a step of controlling the transport robot and the automatic unloading machine to transport the container to a position before the automatic unloading machine and the transport robot interact, if it is detected that the area corresponding to the failure point has a container.

[0013] In one optional embodiment, the step of performing initialization processing on the transport robot and the offline sub-equipment further includes a step of controlling the transport robot and the automatic unloader to transport the at least two containers to positions before the automatic unloader and the transport robot interact, respectively, when it is detected that the automatic unloader has at least two containers.

[0014] In one alternative embodiment, before the step of controlling offline sub-equipment to bring it online and performing initialization processing on the transport robot and the offline sub-equipment, the method further includes a step of controlling the transport robot and the offline sub-equipment to execute the current task in the reverse direction and detecting whether the fault point has been removed.

[0015] In one alternative embodiment, the current task includes a plurality of task progress points, and the step of controlling the transport robot and the offline sub-equipment to execute the current task in a reverse direction and detecting whether the failure point has been removed includes the steps of: obtaining a task progress point among the plurality of task progress points that corresponds to the failure point and setting it as a failure progress point; and switching the transport robot and the offline sub-equipment to the task progress point immediately before the failure progress point and detecting whether the failure point has been removed.

[0016] In one alternative embodiment, the automatic unloader includes a plurality of sub-devices, and when a fault point is detected, the step of controlling the sub-device corresponding to the fault point in the automatic unloader to go offline includes the steps of: when a fault point is detected and the fault point is located on the automatic unloader, acquiring an area on the automatic unloader where the fault point is located as a target area; The method includes a step of acquiring a sub-device corresponding to the target area from among the plurality of sub-devices, setting it as a target sub-device, and controlling the target sub-device to go offline.

[0017] In one alternative embodiment, the plurality of sub-devices includes a loader and an unloader.

[0018] In one optional embodiment, the automatic unloading machine includes a plurality of sub-devices, and when a failure point is detected, the step of controlling the sub-device in the automatic unloading machine corresponding to the failure point to take it offline includes, when a failure point is detected and the failure point is located on the transport robot, a step of acquiring a sub-device from the plurality of sub-devices corresponding to a task to be performed by the transport robot and setting it as a target sub-device, and a step of controlling the target sub-device to take it offline.

[0019] In an alternative embodiment, the method further comprises: upon receiving a control operation on a control display interface from a user, performing the automatic unloading / loading process based on the control operation. machine and controlling a sub-device corresponding to the control operation in the step (a) to make it online or offline.

[0020] As a second aspect, the present disclosure provides an automatic loading / unloading machine control method The control equipment and automatic wholesale machineand a transport robot, the control module is applied to the control device, and if a fault point is detected while the automatic loading / unloading machine and the transport robot are executing a current task, the control module controls a sub-device corresponding to the fault point in the automatic loading / unloading machine to go offline; and after the fault point is removed, the control module controls the offline sub-device to go online, performs initialization processing on the transport robot and the offline sub-device, and makes the transport robot and the offline sub-device execute the current task again.

[0021] In a third aspect, the present disclosure provides a control device including a memory and a processor, the memory being for storing instructions executable by the processor, and the processor being configured to execute the automatic unloader control method provided in any of the embodiments corresponding to the first aspect.

[0022] In a fourth aspect, the present disclosure provides a computer-readable storage medium having stored thereon computer-executable instructions, which, when executed by a processor, realize the automatic unloader control method provided in any of the embodiments corresponding to the first aspect of the present disclosure.

[0023] In a fifth aspect, the present disclosure provides a computer program product including a computer program, which, when executed by a processor, realizes the automatic unloading machine control method provided in any of the embodiments corresponding to the first aspect of the present disclosure.

[0024] An automatic unloader control method provided in an embodiment of the present disclosure , regulation When a fault point is detected in the process of the automatic unloader and the transport robot performing a current task, the control device and the readable storage medium control the sub-device corresponding to the fault point in the automatic unloader to go offline, and after the fault point is removed, control the offline sub-device to go online, and It's online againAn initialization process is performed on the sub-devices, and the transfer robot and offline sub-devices are made to execute the current tasks again. [Effects of the Invention]

[0025] The automatic unloader control method, control device, and readable storage medium provided in the embodiments of the present disclosure can realize orderly online and offline operation of the automatic unloader. That is, in a situation without human intervention, the automatic unloader can automatically go offline based on a detected fault, and automatically go online and initialize after the fault is resolved. This avoids losses caused by an operator being unable to immediately control the equipment to go online / offline when a fault occurs, and thereby ensures that the automatic unloader can be brought online or offline in an orderly manner. [Brief explanation of the drawings]

[0026] The following drawings, which are incorporated in and constitute a part of this specification, illustrate preferred embodiments of the present disclosure and, together with the description, serve to explain the principles of the invention.

[0027] [Figure 1] FIG. 1 is a diagram illustrating an application scenario of the automatic unloader control method provided in the embodiment of the present disclosure. [Figure 2] FIG. 2 is a structural schematic diagram of a transfer robot provided in one embodiment of the present disclosure. [Figure 3] FIG. 3 is a structural schematic diagram of an automatic unloading machine provided in one embodiment of the present disclosure. [Figure 4] FIG. 4 is a flowchart of an automatic unloader control method provided in one embodiment of the present disclosure. [Figure 5] FIG. 5 is a flowchart of an automatic unloader control method provided in another embodiment of the present disclosure. [Figure 6] FIG. 6 is a flow chart of step 202 of the embodiment shown in FIG. 5 of the present disclosure. [Figure 7] FIG. 7 is a schematic diagram of the positional relationship between a container and a rack provided in one embodiment of the present disclosure. [Figure 8] FIG. 8 is a schematic diagram of the positional relationship between a container and a rack provided in another embodiment of the present disclosure. [Figure 9] FIG. 9 is a flowchart of an automatic unloader control method provided in yet another embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart of step 303 in the embodiment shown in FIG. 9 of the present disclosure. [Figure 11] FIG. 11 is a structural schematic diagram of an automatic unloader control device provided in one embodiment of the present disclosure. [Figure 12] FIG. 12 is a block diagram of a control device provided in one embodiment of the present disclosure.

[0028] The above drawings show clear examples of the present disclosure, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the concepts of the present disclosure in any way, but rather to explain the concepts of the present disclosure to those skilled in the art by reference to specific examples. DETAILED DESCRIPTION OF THE INVENTION

[0029] Reference will now be made in detail to illustrative embodiments, examples of which are illustrated in the drawings. When referring to the drawings in the following description, the same reference numerals in different drawings refer to the same or similar elements unless otherwise stated. The embodiments described in the following illustrative examples are not intended to represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as set forth in the claims.

[0030] In automated factories and smart warehouses, transport robots and automatic loading and unloading machines generally work together to load and unload cargo. However, during the interaction between the automatic loading and unloading machine and the transport robot, loading and unloading errors may occur due to misalignment of the container, or a malfunction may occur due to a problem with the equipment itself, making it impossible to continue loading and unloading cargo. Therefore, it is necessary to take the automatic loading and unloading machine offline and have an operator troubleshoot the malfunction.

[0031] Currently, the online and offline operations of the automatic loading and unloading machine are all controlled manually by the workers, who adjust the automatic loading and unloading machine to go online or offline according to the loading and unloading situation on site.

[0032] However, since workers usually cannot immediately detect that an automatic loader / unloader has malfunctioned, they cannot immediately take the automatic loader / unloader offline, and it is difficult to ensure that the automatic loader / unloader is brought online and offline in an orderly manner.

[0033] Additionally, currently, when an operator switches an automatic loading / unloading machine offline or online, the operator does so for the entire machine. However, since an automatic loading / unloading machine includes multiple sub-devices such as a loader and unloader, if a malfunction in one of these devices requires all of the sub-devices to be controlled and taken offline, it is inevitable that the operational efficiency of the automatic loading / unloading machine will be significantly reduced.

[0034] An automatic unloader control method provided in an embodiment of the present disclosure , regulation The present disclosure provides a method for controlling an automatic loading / unloading machine, and a control device and a readable storage medium for solving the above-mentioned technical problems in the prior art. , regulation The control device and the readable storage medium realize accurate and orderly online and offline operation of the automatic loader / unloader, and can reduce the impact on the work efficiency of the automatic loader / unloader when controlling the automatic loader / unloader to go online / offline.

[0035] The following specific examples will be used to explain in detail the technical solutions of the present disclosure and how they solve the above technical problems. The following specific examples can be combined with each other, and the same or similar concepts or processes may not be repeated in some examples. The following examples will be explained in detail in conjunction with the drawings.

[0036] First, application scenarios of the embodiments of the present disclosure will be described in detail.

[0037] 1 is a diagram of an application scenario of the automatic unloader control method provided in an embodiment of the present disclosure. As shown in FIG. 1, this application scenario is an article loading / unloading system. The article loading / unloading system includes a transfer robot 111, an automatic unloader 112, and a control device 113. The control device 113 establishes communication links with the transfer robot 111 and the automatic unloader 112, respectively, to control the automatic unloader 112 and the transfer robot 111. Specifically, the control device 113 includes an industrial PC, a server, etc.

[0038] Optionally, the number of transfer robots 111 may be one or more, and the number of automatic loaders / unloaders 112 may be one or more.

[0039] As shown in FIG. 2 , the transport robot 111 includes a mobile chassis 1113, storage spaces 1112, a transport device 1114, and a lifting unit 1111. The storage spaces 1112, the transport device 1114, and the lifting unit 1111 are all attached to the mobile chassis 1113. There may be a plurality of storage spaces 1112. The lifting unit 1111 is used to drive the transport device 1114 to move up and down, and to align the transport device 1114 with any one of the plurality of storage spaces 1112, or with a rack and / or a load. The transport device 1114 can rotate about an axis of its upright position to adjust its orientation, and to align it with the storage space 1112, or with a rack and / or a load. The transport device 1114 is used to load or unload loads and transport loads between the rack and the storage space 1112.

[0040] For example, the storage space 1112 may be selectively provided or not provided. When the storage space 1112 is not provided, the baggage is stored in the accommodation space of the transport device 1114 while the transport robot 111 is transporting the baggage.

[0041] As shown in FIG. 3, the automatic unloader 112 includes a plurality of sub-devices. Sub The equipment is a power unit of the automatic unloader, such as a loader 1121, an unloader 1122, and a small elevator (not shown). The loader 1121 and the unloader 1122 of the automatic unloader 112 may further be provided with a plurality of racks 1123. The plurality of racks 1123 are provided in a plurality of stages. Optionally, the loader 1121 and the unloader 1122 are provided on a first side of the automatic unloader 112, and the small elevator is provided on a second side of the automatic unloader 112. Optionally, the first side and the second side are provided opposite each other, and the automatic unloader 112 docks with the transport robot 111 on the first side and docks with other external equipment, such as a transport line, on the second side.

[0042] 4 is a flowchart of an automatic unloader control method provided in one embodiment of the present disclosure. method The above can be applied to the control equipment in the above application environment. As shown in Figure 4, the automatic unloader control method provided in this embodiment includes the following steps:

[0043] 101: If a fault point is detected while the automatic loader and the transport robot are executing the current task, the sub-device corresponding to the fault point in the automatic loader is controlled to go offline.

[0044] The current task is a task that the control device is currently instructing the automatic unloader and the transport robot to perform, and illustratively, the current task includes a loading task, an unloading task, and the like.

[0045] The failure point is the area point where the failure occurred among the equipment areas in the goods loading and unloading system.

[0046] In some embodiments, the automatic unloader and the transport robot are equipped with detection devices for detecting fault points. Optionally, the detection devices include, but are not limited to, high-definition (HD) cameras, distance sensors, pressure sensors, etc. Optionally, there are multiple detection devices, and the multiple detection devices are installed at different positions on the automatic unloader and the transport robot. For example, multiple detection devices may be installed on multiple sub-devices of the automatic unloader, or multiple detection devices may be installed on multiple storage spaces of the transport robot.

[0047] While the automatic loader / unloader and the transport robot are performing their current tasks, each detection device reports the detected data to the control device. The control device analyzes whether the detection data is abnormal, and if the detection data is abnormal, determines the detection area corresponding to the detection device that detected the detection data as the fault point.

[0048] For example, the control device determines whether a container is properly placed on a target sub-device of an automatic loading / unloading machine based on image information collected by an HD camera. If the container is not properly placed on the target sub-device, such as if it is placed in an incorrect position, or if the target sub-device is not included in the image information, the control device determines the target sub-device as the fault point and controls the target sub-device of the automatic loading / unloading machine to take it offline. There may be one or more target sub-devices. If there are multiple target sub-devices, the control device takes all of the target sub-devices offline simultaneously.

[0049] As another example, the control device determines whether a container is properly placed on a target sub-device of the automatic unloading machine based on pressure information collected by a pressure sensor. If the container is not properly placed on the target sub-device, for example, if the weight of the container is detected to exceed a weight threshold or if the weight of the container is not detected on the target sub-device, the control device determines the target sub-device as a fault point and controls the target sub-device in the automatic unloading machine to go offline.

[0050] As another example, the control device determines whether a container is properly placed on a target sub-device of an automatic loading / unloading machine based on distance information collected by a distance sensor. If the container is not properly placed on the target sub-device, for example, if the distance information identifies that the container size does not meet the conditions or that the container is placed tilted, the control device determines that the target sub-device is a failure point and controls the target sub-device of the automatic loading / unloading machine to go offline.

[0051] As yet another example, the control device combines an HD camera, a distance sensor, and a pressure sensor to jointly determine whether a container is placed correctly on a target sub-equipment of an automatic loading / unloading machine, and if the control device detects that some or all of the detection results of the HD camera, distance sensor, and pressure sensor do not meet the conditions, it determines the target sub-equipment as the failure point and controls the target sub-equipment to go offline.

[0052] When a sub-device of an automatic loader / unloader is offline, the sub-device may be powered on, but the connection between the control device and the sub-device is cut off. That is, the communication link between the control device and the sub-device is cut off, and the sub-device cannot receive task commands sent from the control device. In this case, an operator can control the automatic loader / unloader independently through a control interface attached to the automatic loader / unloader.

[0053] 102: After the fault point is removed, the offline sub-device is controlled to be brought online, initialization processing is performed on the transport robot and the offline sub-device, and the transport robot and the offline sub-device are made to execute the current task again.

[0054] In some embodiments, when an operator or an external device removes the fault at the fault point, the control device controls the offline sub-equipment to bring it online, and then performs an initialization process on the transport robot and the sub-equipment that has returned online. Specifically, performing an initialization process on the transport robot and the sub-equipment that has returned online means controlling the transport robot and the sub-equipment to return to an operating state before performing the current task, and returning to a position before performing the current task, etc. Optionally, the initialization process may include controlling the transport robot and the offline sub-equipment to transport the container being loaded or unloaded to a position before performing the current task, or to a position before performing the loading or unloading operation.

[0055] When a sub-device of an automatic loader / unloader is online, the sub-device is in a powered state and is connected to the control device, i.e., the communication link between the control device and the sub-device is in a connected state, and the sub-device can receive a task command sent from the control device and execute the task command.

[0056] In this embodiment, if a fault point is detected during the process of the automatic unloader and the transport robot performing the current task, the sub-device corresponding to the fault point in the automatic unloader is controlled to go offline, and after the fault point is removed, the offline sub-device is controlled to go online, and the transport robot and It's online again By initializing the sub-device, the transport robot and It's online again This allows sub-equipment to re-execute its current task in order. In other words, without human intervention, the automatic loader / unloader will automatically go offline when a fault occurs. Specifically, it can take offline the corresponding sub-equipment in a targeted manner based on the location of the fault, ensuring normal operation of fault-free sub-equipment and improving the work efficiency of the automatic loader / unloader. After the fault is resolved, it will automatically go online and initialize. This avoids the losses caused by workers being unable to immediately control the equipment to go online / offline when a fault occurs, ensuring high work efficiency and orderly online / offline operation of the automatic loader / unloader.

[0057] 5 is a flowchart of an automatic unloader control method provided in another embodiment of the present disclosure, which can be applied to control devices in the above application environments. As shown in FIG. 5, the automatic unloader control method provided in this embodiment includes the following steps:

[0058] 201: If a fault point is detected while the automatic loader and the transport robot are executing the current task, the sub-device corresponding to the fault point in the automatic loader is controlled to go offline.

[0059] In some embodiments, a specific embodiment of step 201 includes: when a fault point is detected, controlling a sub-equipment corresponding to the fault point in the automatic unloader to go offline and obtain the position of the transport robot; and when the position of the transport robot is within a designated working area, controlling the transport robot to stop moving.

[0060] For example, the transport robot is equipped with a positioning device, and the control device receives position information reported from the positioning device and determines whether the transport robot has entered a designated area based on the position information, and if it has entered the designated area, controls the transport robot to prevent it from moving from that location. The designated work area may be a work area when the transport robot loads and unloads using an automatic unloader.

[0061] As another example, a robot detection device, such as an infrared sensor or an electronic tag scanner, may be installed in advance in the designated work area to detect whether a transport robot has entered. If a transport robot is detected in the area where the automatic unloading machine is located while the sub-device is offline, further detection is performed in the loading / unloading work area, and if it is detected that the transport robot has already entered the loading / unloading work area, the control device controls the transport robot to prevent it from moving from that location.

[0062] In this embodiment, when a sub-device of an automatic loader / unloader is offline, the transport robot entering the designated work area is controlled to stop its movement, thereby stopping the operation of the device where the fault has occurred, making it easier for an operator to immediately perform the process of removing the fault.

[0063] In some other embodiments, a specific embodiment of step 201 includes: when a fault point is detected, detecting whether a sub-device corresponding to the fault point has an uncompleted task command; if the sub-device corresponding to the fault point has an uncompleted task command, controlling the sub-device corresponding to the fault point to complete the execution of the uncompleted task command, and controlling the sub-device corresponding to the fault point to go offline.

[0064] As an example, when an automatic loading / unloading machine receives a task command sent from a control device, by taking the sub-device corresponding to the failure point offline after completing the execution of the received task command, it is possible to facilitate the initialization process after subsequent devices are brought online.

[0065] 202: After the fault point is removed, the offline sub-equipment is controlled to be brought online, and the transport robot is controlled to switch to the working state before the automatic loading / unloading machine and the transport robot interacted, and the offline sub-equipment is controlled to switch to the working state before the automatic loading / unloading machine and the transport robot interacted, and the transport robot and the offline sub-equipment are made to execute the current task again.

[0066] Optionally, the working state of the transport robot before the automatic unloader and the transport robot interact may be the working state immediately after the transport robot receives the current task, or may be the working state before the transport robot and the automatic unloader cooperate to perform the loading / unloading operation. Correspondingly, the working state of the automatic unloader before the automatic unloader and the transport robot interact may be the working state when the current task is received, or may be the working state before the transport robot and the automatic unloader cooperate to perform the loading / unloading operation.

[0067] In some embodiments, as shown in FIG. 6, a specific embodiment of step 202 includes the following steps.

[0068] 2021: Detect whether the execution of the operations of the transport robot and offline sub-equipment is obstructed by an object.

[0069] As an example, an obstruction detection device is installed in each of the transport robots and automatic loading / unloading sub-equipment to detect whether the execution of an operation is being obstructed by an object, and the obstruction detection device detects whether the execution of an operation of the transport robot and offline sub-equipment is being obstructed by an object.

[0070] For example, the obstruction detection device includes a pressure sensor installed on the transport device of the transport robot, and when the transport device pushes out a container, if the pressure value detected by the pressure sensor exceeds a pressure threshold, it indicates that the push-out operation of the transport robot is obstructed.

[0071] For example, the obstruction detection device may include an HD camera installed on a rack of an offline sub-equipment of the automatic loading / unloading machine to collect image information of the container and the rack. The control device can confirm the relative positional relationship between the container and the rack based on the image information. As shown in FIG. 7, the control device can confirm the misalignment between the container 120 and the rack 1123 based on the image information. If the container 120 and the rack 1123 are misaligned, the container 120 cannot be placed properly in the rack, and it can be determined that the offline sub-equipment is obstructing the operation of the offline sub-equipment.

[0072] As another example, if it is detected based on the position information of each transport robot that a transport robot performing another task is obstructing the movement of a transport robot performing a current task, it can be determined that the transport robot's operation is being obstructed by an object.

[0073] 2022: If not obstructed by an object, the transport robot is controlled to switch to the working state before the automatic loading / unloading machine and the transport robot interacted, and the offline sub-equipment is controlled to switch to the working state before the automatic loading / unloading machine and the transport robot interacted.

[0074] Optionally, the goods loading / unloading system may further include a warning device electrically connected to the control device, which may be an audio playback device, a display device, etc. When it is detected that the transport robot and the offline sub-device are hindered from performing their operations by an object, the control device controls the warning device to issue warning information to warn an operator that the transport robot and the automatic unloading machine are hindered from performing their operations.

[0075] In this embodiment, it is detected whether the execution of operations of the transport robot and offline sub-equipment is being hindered by an object, and if not, the transport robot is controlled to switch to a working state before the automatic loader / unloader and the transport robot interacted, and the offline sub-equipment is controlled to switch to a working state before the automatic loader / unloader and the transport robot interacted, thereby enabling the initialization of the transport robot and the offline sub-equipment to be executed in an orderly manner.

[0076] In one embodiment, and referring again to FIG. 6, step 202 further includes the following steps:

[0077] 2023: Control the transport robot and offline sub-devices to re-execute the current task.

[0078] After initializing the transport robot and bringing the offline sub-device back online and initializing it, the control device sends a task command for the current task to the transport robot and the sub-device again, instructing the transport robot and the sub-device to perform the operation corresponding to the current task again.

[0079] 2024: If the transport robot and the offline sub-equipment have not completed the current task, return and control the transport robot to switch to the working state before the automatic loading / unloading machine and the transport robot interacted, and control the offline sub-equipment to switch to the working state before the automatic loading / unloading machine and the transport robot interacted.

[0080] As an example, when the current task is to unload a container on a transport robot, if it is detected during the unloading process that the transport robot and offline sub-equipment are obstructed during the unloading operation and cannot complete the current task, the control device controls the transport robot to switch to a working state before the automatic loading / unloading machine and the transport robot interacted, and controls the offline sub-equipment to switch to a working state before the automatic loading / unloading machine and the transport robot interacted.

[0081] In some other embodiments, a specific implementation of step 202 includes the following steps.

[0082] If it is detected that the area corresponding to the failure point has a container, the transport robot and the automatic loader / unloader are controlled to transport the container to a position before the automatic loader / unloader and the transport robot interact with each other.

[0083] As an example, an offline sub-device is the loader of an automatic unloader. As shown in Figure 8, the loader of the automatic unloader includes three racks: upper, middle, and lower. If the detected fault point is specifically located in the middle rack of the loader and containers are placed on the middle and lower racks of the loader, the control device controls the transfer robot and the automatic unloader to transport the container on the middle rack to the position before the automatic unloader and the transfer robot interact. This allows for accurate initialization of the container.

[0084] In some further embodiments, a specific implementation of step 202 includes the following steps.

[0085] When it is detected that the automatic unloader has at least two containers, the transport robot and the automatic unloader are controlled to transport the at least two containers to positions before the automatic unloader and the transport robot interact with each other.

[0086] As an example, referring again to FIG. 8, if the loader of the automatic unloader includes three racks: upper, middle, and lower. If containers are placed on the middle and lower racks of the loader, the containers on the middle and lower racks are transported to their respective positions before the automatic unloader and the transport robot interacted with each other. For example, if the container on the middle rack was originally in the first storage space of the transport robot and the container on the lower rack was originally in the first storage space of the transport robot, when the containers are initialized, the containers on the middle and lower racks are returned to their original positions on the transport robot. This makes it easier for the transport robot and the offline sub-devices to completely re-execute their current tasks.

[0087] Figure 9 1 is a flowchart of an automatic unloader control method provided in an embodiment of the present disclosure. method can be applied to the control equipment in the above application environment, and as shown in FIG. 9, the automatic unloader control method provided in this embodiment includes the following steps:

[0088] 301: If a fault point is detected while the automatic loader and the transport robot are executing the current task, the sub-device corresponding to the fault point in the automatic loader is controlled to go offline.

[0089] The specific embodiment of step 301 can refer to step 101, so it will not be described again here.

[0090] 302: Control the transfer robot and offline sub-devices to execute the current task in the reverse direction, and detect whether the fault point has been removed.

[0091] For example, if the offline sub-device is an unloader of an automatic unloader and the current task is for the transport robot to push a container to the unloader, the unloader will return the container to the transport robot when the current task is executed in the reverse direction. Then, the detection device in the above embodiment detects a fault and determines whether the fault point has been removed.

[0092] In some embodiments, the current task includes multiple task progress points, and a specific embodiment of step 301 includes: obtaining a task progress point corresponding to a failure point among the multiple task progress points as a failure progress point; controlling the transfer robot and the offline sub-equipment to switch to the task progress point immediately before the failure progress point; and detecting whether the failure point has been removed.

[0093] The failure progression point may be the failure point in this embodiment.

[0094] For example, the task progress points may include a container unloading point, a container transporting point, and a container loading point, and if the fault progress point is the container loading point, the transport robot and offline sub-equipment are controlled to switch to the container transporting point, and the detection device detects whether the fault point has been removed at the task progress point of the container transport.

[0095] When the transport robot and offline sub-equipment are controlled to switch from a container loading point to a container transport point, the positions and operations of the transport robot and offline sub-equipment, as well as the position and posture of the container, are switched to the states at the container transport point.

[0096] For example, if it is detected that the fault point has not been removed after switching to the previous task progress point, the control device controls the transport robot and the offline sub-device to switch to the previous task progress point and detect whether the fault point has been removed, thereby removing the fault points one by one based on the task progress point and achieving accurate removal of the fault points.

[0097] 303: After the fault point is removed, the offline sub-devices are controlled to be brought online, initialization processing is performed on the transport robot and the offline sub-devices, and the transport robot and the offline sub-devices are made to execute the current task again.

[0098] In some embodiments, the automatic unloader includes multiple sub-machines, as shown in FIG. 301 A specific embodiment of the method includes the following steps:

[0099] 3031: If a fault point is detected and the fault point is located on the automatic loader / unloader, the area on the automatic loader where the fault point is located is obtained as the target area.

[0100] As an example, if the malfunction is caused by a shift of a container on one rack of a loader of an automatic unloading machine, the rack on which the container is placed is determined to be the target area.

[0101] 3032: A sub-device corresponding to the target area is acquired from among the plurality of sub-devices, and the acquired sub-device is controlled to go offline.

[0102] Continuing with the above example, since the target area is in the loader of the automatic unloader, the loader of the automatic unloader is determined as the target sub-equipment and the loader is controlled to be taken offline. This allows accurate offline taking of the sub-equipment based on the area of ​​the automatic unloader where the fault point is located.

[0103] Optionally, the plurality of sub-equipment includes a power unit such as a loader, unloader, small elevator, or conveying device, which can load a container from the rack of the automatic unloader onto a transport robot, or unload a container from the transport robot and store the container on the rack.

[0104] In some other embodiments, a specific embodiment of step 320 includes: when a fault point is detected and the fault point is located on the transport robot, obtaining a sub-device among the multiple sub-devices corresponding to a task performed by the transport robot as a target sub-device, and controlling the target sub-device to go offline.

[0105] As an example, if the failure point is located on transport robot A and the task currently being executed by transport robot A is to transport a container to an automatic unloader and unload it, the system determines that the unloader of the automatic unloader corresponds to the task being executed by transport robot A, sets the unloader as the target sub-equipment, and controls the unloader to go offline. Alternatively, if the failure point is located on transport robot B and the task currently being executed by transport robot B is to go to the automatic unloader and load a container, the system determines that the loader of the automatic unloader corresponds to the task being executed by transport robot B, sets the loader as the target sub-equipment, and controls the loader to go offline. This allows sub-equipment to be accurately taken offline based on the task corresponding to the failed transport robot.

[0106] In some embodiments, the method further comprises the steps of:

[0107] 304: When a control operation is received from the user on the control display interface, the automatic loading / unloading is performed based on the control operation. machine The sub-devices corresponding to the control operations in the control unit 10 are controlled to be online or offline.

[0108] In one embodiment, the control device is provided with a touch screen, and a control display interface is displayed on the touch screen. The control display interface includes icons corresponding to a plurality of control operations, and the user's control operation can be touching the icons. When the user touches an icon, the control device generates a corresponding control command based on the touched icon, and sends the control command to the control device for automatic loading / unloading. machine Send to and auto-unload machineand instructs the execution of the corresponding online / offline operation. Optionally, the control and display interface may include an all-machine online icon, an all-machine offline icon, a loader offline icon, an unloader offline icon, a single-key online icon, a manual mode icon, a loader initialization icon, an unloader initialization icon, etc. Optionally, the control and display interface may further display information such as the number, position, and working status of the transport robot performing the current task.

[0109] Optionally, the control and display interface may further include distribution information, status information, etc. of the multiple automatic unloaders, and the status information of the multiple automatic unloaders is updated in real time based on the detected fault points. For example, when the automatic unloader is offline, the status displayed on the control and display interface is offline.

[0110] Note that step 304 may be performed after step 303 or before step 303. Furthermore, step 304 may be performed before any one of steps 301 to 303, and is not limited here.

[0111] In this embodiment, when the transport robot and the offline sub-equipment execute the current task in the reverse direction, for example, when a misplaced container on the unloader rack is returned to the transport robot, the fault point on the unloader rack can be automatically removed. By controlling the transport robot and the offline sub-equipment to execute the current task in the reverse direction and detecting whether the fault point has been removed, automatic removal of the fault point can be realized in this way, which avoids the need for manual removal and the consumption of manpower, and improves the efficiency of fault removal.

[0112] 11 is a structural schematic diagram of an automatic unloader control device provided in one embodiment of the present disclosure. As shown in FIG. 11, the automatic unloader control device includes a control device and an automatic loading / unloading device. wholesale machineThe present invention is applied to a control device in an article loading / unloading system including a transport robot and an automatic unloading machine control device. The automatic unloading machine control device includes the following modules.

[0113] If a fault point is detected while the automatic loader / unloader and the transport robot are executing the current task, the offline control module 41 controls the sub-device corresponding to the fault point in the automatic loader / unloader to go offline.

[0114] The online and initialization control module 42 controls the offline sub-devices to be online after the fault point is removed, and It's online again Perform initialization processing for offline sub-devices, and then start the transport robot and It's online again Causes the sub-device to re-execute its current task.

[0115] Optionally, the offline control module 41 includes a position acquisition unit that controls a sub-equipment corresponding to the failure point in the automatic loading / unloading machine to go offline when a failure point is detected, and also includes a stop unit that controls the transport robot to stop its movement when the transport robot is located in a designated work area.

[0116] Optionally, the offline control module 41 includes: a command detection unit for detecting whether a sub-device corresponding to the failure point has an uncompleted task command when a failure point is detected; and an execution unit for controlling the sub-device corresponding to the failure point to complete the execution of the uncompleted task command if the sub-device corresponding to the failure point has an uncompleted task command, and controlling the sub-device corresponding to the failure point to go offline.

[0117] Optionally, the online and initialization control module 42 includes an initialization unit that controls the transport robot to switch to a working state before the automatic unloader and the transport robot interact, and controls the offline sub-equipment to switch to a working state before the automatic unloader and the transport robot interact.

[0118] Optionally, the initialization unit specifically detects whether the transport robot and offline sub-equipment are hindered from performing their operations by an object, and if not hindered by an object, controls the transport robot to switch to a working state before the automatic loading / unloading machine and the transport robot interact, and controls the offline sub-equipment to switch to a working state before the automatic loading / unloading machine and the transport robot interact.

[0119] The automatic loading / unloading machine control device further includes a resume module that causes the transport robot and offline sub-equipment to execute the current task again, and a return module that, if the transport robot and offline sub-equipment have not completed the current task, returns and controls the transport robot to switch to a working state before the automatic loading / unloading machine and the transport robot interacted, and controls the offline sub-equipment to switch to a working state before the automatic loading / unloading machine and the transport robot interacted.

[0120] Optionally, the initialization unit further controls the transport robot and the automatic unloader to transport the container to a position before the automatic unloader and the transport robot interact, if it detects that the area corresponding to the failure point has a container.

[0121] Optionally, the initialization unit further controls the transport robot and the automatic unloader to transport the at least two containers to positions before the automatic unloader and the transport robot interact, respectively, when it is detected that the automatic unloader has at least two containers.

[0122] Optionally, the automatic unloader control device further includes a reverse execution module that controls the transport robot and offline sub-equipment to execute the current task in a reverse direction and detects whether the fault point has been removed.

[0123] Optionally, the current task includes multiple task progress points, and the backward execution module obtains a task progress point corresponding to a failure point among the multiple task progress points as a failure progress point, controls the transport robot and the offline sub-equipment to switch to the task progress point immediately before the failure progress point, and detects whether the failure point has been removed.

[0124] Optionally, the automatic unloader includes a plurality of sub-devices, and the offline control module 41 includes a target area detection unit for, when a fault point is detected and the fault point is located on the automatic unloader, acquiring an area on the automatic unloader where the fault point is located as a target area, and an offline unit for acquiring a sub-device among the plurality of sub-devices corresponding to the target area as a target sub-device, and controlling the target sub-device to go offline.

[0125] Optionally, the plurality of sub-equipment includes a loader and an unloader.

[0126] Optionally, the offline control module 41 specifically, when a fault point is detected and the fault point is located on the transport robot, acquires a sub-device among the multiple sub-devices that corresponds to the task performed by the transport robot, sets it as a target sub-device, and controls the target sub-device to go offline.

[0127] Optionally, the automatic unloader control device further receives a control operation on the control display interface from a user, and then performs automatic unloading based on the control operation. machine The control module controls the sub-devices corresponding to the control operations in the above to make them online or offline.

[0128] For illustrative purposes, this embodiment can refer to the above method embodiment, and its principles and technical effects are similar, so they will not be described again.

[0129] 12 is a structural schematic diagram of a control device provided in an embodiment of the present disclosure. As shown in FIG. 12, the control device includes a memory 53 and a processor 52.

[0130] The memory 53 is a memory for storing instructions that the processor 52 can execute.

[0131] The processor 52 is configured to execute the methods provided in the above embodiments.

[0132] Control Equipment The device further includes a receiver 50 and a transmitter 51. The receiver 50 receives commands and data transmitted from an external device, and the transmitter 51 transmits commands and data to the external device.

[0133] A computer program is stored in a computer-readable storage medium provided in an embodiment of the present disclosure, and the computer program is executed by a processor to realize the automatic loading / unloading machine control method provided in any one of the above embodiments of the present disclosure.

[0134] The computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, or the like.

[0135] An embodiment of the present disclosure further provides a computer program product, the computer program product including a computer program stored in a readable storage medium, the computer program being readable from the readable storage medium by at least one processor of an electronic device, and the computer program being executed by the at least one processor to cause the electronic device to perform the scheme provided in any one of the method embodiments above.

[0136] It should be understood that the devices and methods disclosed in some embodiments provided by the present disclosure can be realized in other forms. For example, the device embodiments described above are merely illustrative, and the division of modules, for example, represents a division of a type of logical function. In actual implementation, other division methods are possible. For example, multiple modules or assemblies may be combined or integrated into another system, or some features may be omitted or not implemented. Furthermore, the couplings, direct couplings, or communication connections between devices shown or discussed may be indirect couplings or communication connections via some interface, device, or module, and may be electrical, mechanical, or other forms.

[0137] Those skilled in the art will be able to readily devise other embodiments of the present disclosure from a study of the specification and practice of the present disclosure. The present disclosure is intended to cover all variations, modifications, and adaptations of the present disclosure that follow the general principles of the present disclosure and incorporate common knowledge or customary technical means known in the art but not disclosed herein. The specification and examples are considered to be exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0138] It will be understood that the present disclosure is not limited to the precise construction described above and illustrated in the drawings, and that various modifications and variations are possible without departing from the scope of the present disclosure, which is limited only by the claims.

Claims

1. In an article loading / unloading system including a control device, an automatic unloading machine, and a transport robot, the present invention is applied to the control device, When a fault point is detected during the process of the automatic unloader and the transport robot performing a current task, controlling a sub-device corresponding to the fault point in the automatic unloader to go offline; After the fault point is removed, the method includes a step of controlling the offline sub-device to bring it online, performing an initialization process on the transport robot and the sub-device that has been brought online again, and having the transport robot and the sub-device that has been brought online again execute the current task; The automatic unloader includes a plurality of sub-devices, and when a fault point is detected, the step of controlling a sub-device corresponding to the fault point in the automatic unloader to go offline includes: When a fault point is detected and the fault point is located on the transport robot, a sub-device corresponding to a task to be executed by the transport robot is acquired from among the plurality of sub-devices, and the acquired sub-device is set as a target sub-device; controlling the target sub-device to go offline; Automatic loading / unloading machine control method.

2. After the fault point is detected, the method further includes the step of controlling the transport robot and the offline sub-equipment to execute the current task in a reverse direction, and detecting whether the fault point has been removed.

2. The method for controlling an automatic unloader according to claim 1.

3. The current task includes a plurality of task progress points, and the step of controlling the transport robot and the offline sub-equipment to execute the current task in a reverse direction and detecting whether the fault point has been removed comprises: obtaining a task progress point corresponding to the failure point from among the plurality of task progress points, and setting the obtained task progress point as a failure progress point; controlling the transport robot and the offline sub-device to switch to a task progress point immediately before the failure progress point, and detecting whether the failure point has been removed; 3. The method for controlling an automatic unloader according to claim 2.

4. The automatic unloading machine includes a plurality of sub-devices, and when a fault point is detected, the step of controlling a sub-device corresponding to the fault point in the automatic unloading machine to go offline comprises: When a fault point is detected and the fault point is located on the automatic unloader, an area on the automatic unloader where the fault point is located is acquired as a target area; acquiring a sub-device corresponding to the target area from among the plurality of sub-devices, as a target sub-device, and controlling the target sub-device to go offline; 2. The method for controlling an automatic unloader according to claim 1.

5. The method further includes a step of, when a control operation is received on a user's control display interface, controlling a sub-device corresponding to the control operation in the automatic unloading machine based on the control operation to make the sub-device go online or offline.

2. The method for controlling an automatic unloader according to claim 1.

6. a memory and a processor; the memory is used to store instructions executable by the processor; The processor is configured to execute the automatic unloader control method according to any one of claims 1 to 5. Control equipment.

7. A computer-readable storage medium having stored thereon computer-executable instructions, which, when executed by a processor, realize the automatic unloader control method according to any one of claims 1 to 5. A computer-readable storage medium.

8. The automatic unloading machine control method according to any one of claims 1 to 5 includes a computer program, and when the computer program is executed by a processor, the automatic unloading machine control method according to any one of claims 1 to 5 is realized. Computer program products.

Images