CN110342432B - Goods taking and placing method and system of laser forklift - Google Patents
Goods taking and placing method and system of laser forklift Download PDFInfo
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- CN110342432B CN110342432B CN201910667411.9A CN201910667411A CN110342432B CN 110342432 B CN110342432 B CN 110342432B CN 201910667411 A CN201910667411 A CN 201910667411A CN 110342432 B CN110342432 B CN 110342432B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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Abstract
The embodiment of the invention discloses a method and a system for picking and placing goods by a laser forklift, wherein the method comprises the following steps: controlling the laser forklift to walk to the corresponding parking detection point according to a working instruction comprising the task type and the parking detection point; determining a storage position detection area of the laser scanner corresponding to the corresponding parking detection point according to the position information of the corresponding parking detection point and the storage position information pre-associated with the corresponding parking detection point, and switching the obstacle avoidance detection area of the corresponding laser scanner into the storage position detection area to detect whether the corresponding storage position is in good or not; determining whether the laser forklift carries out corresponding goods taking or placing operation or not according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuously executing the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps. The embodiment of the invention reduces additional hardware configuration and saves a library position management system with complicated operation process.
Description
Technical Field
The invention relates to the technical field of automatic guided transport vehicles, in particular to a method and a system for picking and placing goods by a laser forklift.
Background
The laser forklift is an Automatic Guided Vehicle (AGV) based on laser navigation, currently, when the laser forklift is applied, a target warehouse location of the laser forklift when the laser forklift carries out goods taking and placing is usually fixed, goods information on each warehouse location is also generally known, and the information is determined and issued to the laser forklift after real-time data exchange is carried out by a central control computer through a warehouse location management system, a material ordering system, an ERP system and the like. But to the storehouse position quantity few and need not to bind between storehouse position and the material, and the goods information of storehouse position is ambiguous, and the goods is put and is had the application scene of randomness, still adopts the storehouse position management and control mode among the traditional technology for the management and control is complicated and the cost increases, gets to put the goods and need consume certain manpower and materials, influences work efficiency.
Disclosure of Invention
The invention aims to provide a method and a system for picking and placing goods by a laser forklift in order to overcome the defects in the prior art.
In one embodiment, the invention provides a method for picking and placing goods by a laser forklift, which comprises the following steps:
controlling the laser forklift to walk to the corresponding parking detection point according to a working instruction comprising the task type and the parking detection point;
determining a storage position detection area of the laser scanner corresponding to the corresponding parking detection point according to the position information of the corresponding parking detection point and the storage position information pre-associated with the corresponding parking detection point, and switching the obstacle avoidance detection area of the corresponding laser scanner into the storage position detection area to detect whether the corresponding storage position is in good or not;
determining whether the laser forklift carries out corresponding goods taking or placing operation or not according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuously executing the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps.
In one embodiment, if the parking detection points are determined to be positioned at the side of the queue where the pre-associated storage positions are positioned according to the storage position information, a laser scanner arranged in front of the laser forklift is used for detecting whether the corresponding storage positions are in goods.
In one embodiment, if the parking detection point corresponds to a row of storage positions and is located at the starting point of the row of storage positions according to the storage position information, a laser scanner behind a laser forklift is used for detecting whether the corresponding storage positions are in good condition or not.
In one embodiment, whether the laser forklift carries out corresponding goods taking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, wherein the steps comprise:
and when the task type is a goods taking task, if the detection result is that goods exist, obtaining a goods taking path from the corresponding parking detection point to the corresponding storage position, controlling the laser forklift to take the goods along the goods taking path, and if the detection result is that no goods exist, walking to the next parking detection point according to the received working instruction to detect whether the goods exist at the corresponding storage position.
In one embodiment, whether the laser forklift carries out corresponding goods taking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, and further comprising:
and when the task type is a goods placing task, if the detection result is no goods, obtaining a goods placing path from the corresponding parking detection point to the corresponding storage position, controlling the laser forklift to place the goods along the goods placing path, and if the detection result is goods, walking to the next parking detection point according to the received working instruction to detect whether the goods are placed at the corresponding storage position.
In one embodiment, whether the laser forklift carries out corresponding goods taking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, wherein the steps comprise:
when the task type is a goods taking task, if the detection result is that goods exist, executing goods taking operation; and if the detection result is no goods, controlling the laser forklift to continue to walk along the terminal warehouse position direction of the warehouse position according to the received working instruction, and if no goods are detected when the laser forklift walks to the terminal warehouse position of the warehouse position, walking to the next parking detection point according to the received working instruction to detect whether goods exist in the corresponding warehouse position.
In one embodiment, whether the laser forklift carries out corresponding goods taking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, and further comprising:
when the task type is a goods release task, if the detection result is no goods, controlling the laser forklift to continue to walk along the terminal warehouse position direction of the warehouse position until the laser scanner detects that goods exist, and controlling the laser forklift to walk along the starting point direction of the warehouse position for a preset distance to release the goods; and if the detection result is that goods exist, walking to the next parking detection point according to the received work instruction to detect whether the goods exist in the corresponding storage position.
In one embodiment, the laser scanners are arranged in front of the laser forklift, and are arranged right in front of the laser forklift.
In one embodiment, the number of the laser scanners arranged in front of the laser forklift is two, the two laser scanners are respectively arranged on two sides in front of the laser forklift and form a preset angle with the central axis of the laser forklift.
On the other hand, the embodiment of the invention also provides a goods taking and placing system of the laser forklift, which comprises central control equipment and the laser forklift;
the central control equipment is used for sending a working instruction to the laser forklift;
the laser forklift is used for executing a goods taking and placing method of the laser forklift when the working instruction is obtained.
The invention provides a method and a system for picking and placing goods by a laser forklift, wherein the laser forklift can switch an original obstacle avoidance detection area into a storage position detection area by using a corresponding laser scanner after reaching a corresponding parking detection point according to an obtained working instruction, so as to detect a corresponding storage position, and the detection on whether goods exist in the storage position is realized without additionally arranging storage position detection equipment. Furthermore, the parking space detection area of the laser scanner corresponding to the parking detection point is determined according to the position information of the parking detection point and the associated parking space information, so that the scanning range of the corresponding laser scanner can be switched to a specified area, interference of other parking spaces is reduced, and detection accuracy is improved. The goods taking and placing method and system of the laser forklift in each embodiment of the invention are beneficial to reducing extra hardware configuration and saving a warehouse location management system with a fussy operation flow when detecting warehouse location goods, can realize automatic inspection of the goods taking and placing of the laser forklift, reduce the limitation of goods placing, and are flexible, simple and convenient to operate.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope of the present invention. Like components are numbered similarly in the various figures.
Fig. 1 is a schematic flow chart illustrating a pick-and-place method of a laser forklift according to an embodiment of the present invention;
fig. 2 is a first schematic view of a pick-and-place method of a laser forklift according to an embodiment of the present invention;
fig. 3 shows a second schematic diagram of a pick-and-place method of a laser forklift according to an embodiment of the invention;
FIG. 4 illustrates a third schematic diagram of a laser lift truck pick and place method of embodiments of the present invention;
fig. 5 is a fourth schematic diagram illustrating a pick-and-place method of a laser forklift according to an embodiment of the present invention;
fig. 6 shows a fifth schematic view of a pick-and-place method of a laser forklift according to an embodiment of the invention;
FIG. 7 shows a first schematic view of a laser lift truck of an embodiment of the present invention;
FIG. 8 shows a second schematic view of a laser lift truck of an embodiment of the present invention;
fig. 9 shows a schematic view of a pick and place system of a laser forklift truck according to an embodiment of the invention;
fig. 10 shows a third schematic view of a laser lift truck according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Hereinafter, the terms "including", "having", and their derivatives, which may be used in various embodiments of the present invention, are only intended to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be construed as first excluding the existence of, or adding to, one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing.
Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which various embodiments of the present invention belong. The terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning that is consistent with their contextual meaning in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein in various embodiments of the present invention.
Referring to fig. 1, in one embodiment, the invention provides a method for picking and placing goods by a laser forklift, which comprises the following steps:
step S110: and controlling the laser forklift to walk to the corresponding parking detection point according to the working instruction comprising the task type and the parking detection point.
The working instruction is an instruction which is issued to the laser forklift by the central control device, the task type comprises a goods taking task or a goods placing task, and the central control device can issue one parking detection point each time or issue a plurality of parking detection points at one time.
Step S120: and determining a storage position detection area of the laser scanner corresponding to the corresponding parking detection point according to the position information of the corresponding parking detection point and the storage position information pre-associated with the corresponding parking detection point, and switching the obstacle avoidance detection area of the corresponding laser scanner into the storage position detection area to detect whether the corresponding storage position is in good or not.
The bin position information includes position information of the bin position and a bin position range size. Wherein, the storehouse position detection area is used for confirming the effective detection range of the laser scanner. All parking detection point information and warehouse location information in the warehouse are prestored in the laser forklift. The parking detection point information includes position information of the parking detection point, and the associated laser scanner. Further, the pre-associated storage positions of the parking detection points can be issued by the central control equipment and can also be pre-stored in the laser forklift. Each parking detection point is at least associated with one library position, namely each parking detection point at least corresponds to one library position detection area. At least one laser scanner is arranged in front of and behind the laser forklift. When the laser scanner is used for avoiding obstacles, the obstacles in the coverage range of the front and the rear are detected, when the laser scanner is used for detecting whether goods exist in the storage position, whether objects exist in the range of the storage position detection area is detected, and the objects detected outside the range of the storage position area are regarded as invalid.
Step S130: determining whether the laser forklift carries out corresponding goods taking or placing operation or not according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuously executing the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps.
And when the task type is a goods taking task and the detection result is that goods exist, determining that the laser forklift carries out goods taking operation, otherwise, continuously carrying out detection on whether goods exist in the next storehouse position according to the received working instruction and subsequent steps, and if so, continuously carrying out detection on the next storehouse position associated with the corresponding parking detection point or walking to the next parking detection point to carry out detection on the next storehouse position according to the received working instruction.
And when the task type is goods placing and the detection result is no goods, determining that the laser forklift carries out goods placing operation, otherwise, continuously carrying out detection on whether goods are available in the next storehouse position according to the received working instruction and carrying out subsequent steps, and if so, continuously carrying out detection on the next storehouse position associated with the corresponding parking detection point or walking to the next parking detection point to carry out detection on the next storehouse position according to the received working instruction.
According to the goods taking and placing method of the laser forklift, the laser forklift can switch the original obstacle avoidance detection area into the storage position detection area by using the corresponding laser scanner after reaching the corresponding parking detection point according to the obtained working instruction, so that the corresponding storage position is detected, and the detection of whether goods exist in the storage position is realized without additionally arranging storage position detection equipment. Furthermore, the parking space detection area of the laser scanner corresponding to the parking detection point is determined according to the position information of the parking detection point and the associated parking space information, so that the scanning range of the corresponding laser scanner can be switched to a specified area, interference of other parking spaces is reduced, and detection accuracy is improved. The goods taking and placing method of the laser forklift is beneficial to reducing extra hardware configuration and omitting a warehouse location management system with a complicated operation process when detecting warehouse location goods, can realize automatic inspection of the goods taking and placing of the laser forklift, reduces limitation of goods placing, and is flexible, simple and convenient to operate.
Referring to fig. 2, in a specific embodiment, if it is determined from the depot level information that the parking detection points are located at the side of the queue where the pre-associated depot level is located, the laser scanner 210 provided in front of the laser truck is used to detect whether the corresponding depot level is in stock.
When the laser forklift travels to the corresponding parking detection point, the relative position of the corresponding parking detection point and the corresponding parking position can be determined according to the information of the parking position, so that if the corresponding parking detection point is determined to be positioned at the side of the queue where the pre-associated parking position is positioned, the laser scanner 210 arranged in front of the laser forklift is adopted. The storage position queue has at least one row, as shown in fig. 2, and the parking detection points are located at the side of the queue where the pre-associated storage positions are located, i.e. the parking detection points 1, 2 and 3 are located on the laser forklift running passage beside the row A and/or the row B of the queue. The position setting of each parking detection point enables the laser scanner corresponding to the laser forklift to accurately detect whether goods exist on the corresponding storage position on the side. The central control equipment can issue a working instruction according to the current position of the laser forklift, wherein the working instruction comprises at least one parking detection point, so that the laser forklift sequentially reaches the corresponding parking detection points according to the position information of each parking detection point, the detection of whether goods exist in the warehouse space is carried out, and the corresponding goods taking or placing operation is executed. Furthermore, the parking detection sequence of the laser forklift can be carried out according to the sequence of the current position from near to far; or the central control equipment can issue a parking detection point every time according to the current position of the laser forklift from near to far, so that the laser forklift can carry out lateral warehouse position goods taking and placing detection on the warehouse position.
The method for picking and placing the goods by the laser forklift is convenient for the laser forklift to automatically walk to the parking detection point to effectively detect whether the corresponding storage position has the goods or not through the laser scanner 210, is convenient for quickly finishing the task of picking and placing the goods, saves additional pre-detection procedures such as goods counting and information input, and improves the working efficiency.
Referring to fig. 3, in one embodiment, if it is determined that the parking detection point corresponds to a row of parking positions and is located at a starting point of the row of parking positions according to the parking position information, the laser scanner 310 disposed behind the laser forklift is used to detect whether the corresponding parking position is in good condition.
When the laser forklift travels to the corresponding parking detection point, the corresponding position of the corresponding parking detection point and the corresponding position of the parking detection point can be determined according to the position information, so that if the parking detection point is determined to correspond to a row of positions and is located at the initial point of the row of positions, the laser scanner 310 arranged behind the laser forklift is adopted. The central control equipment can issue a working instruction according to the current position of the laser forklift, wherein the working instruction at least comprises one parking detection point, so that the laser forklift sequentially reaches the corresponding parking detection point according to the position information of each parking detection point, the detection of whether goods exist in the corresponding row of the storage positions is carried out, corresponding operations are carried out, and the sequence of reaching the parking detection can be carried out according to the sequence of the current position from near to far; or the central control equipment can issue a parking detection point each time according to the current position of the laser forklift from near to far, so that the laser forklift can carry out the goods taking and placing detection of the rear type storage position. At this time, according to the position information of the library position detection point and the position information of the associated library position, the library position detection area includes any position on the single-column library position. As shown in fig. 3, point 1 is a parking detection point, and the garage position detection area includes any position from garage position a1 to garage position A3.
The method for picking and placing the goods by the laser forklift is convenient for the laser forklift to automatically walk to the stop detection point so as to effectively detect whether the corresponding storage space has the goods or not through the laser scanner 310, and meanwhile, the task of picking and placing the goods is conveniently and quickly completed, and extra detection preorders such as goods ordering and information input are omitted. Furthermore, the goods can be flexibly placed on the queue more conveniently, so that the laser forklift can timely take and place the goods.
Referring to fig. 2, in a specific embodiment, whether the laser forklift performs a corresponding picking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, wherein the steps comprise:
and when the task type is a goods taking task, if the detection result is that goods exist, obtaining a goods taking path from the corresponding parking detection point to the corresponding storage position, controlling the laser forklift to take the goods along the goods taking path, and if the detection result is that no goods exist, walking to the next parking detection point according to the received working instruction to detect whether the goods exist at the corresponding storage position.
The goods taking path can be issued by the central control equipment or acquired by the laser forklift according to a built-in map.
The goods taking and placing method of the laser forklift can help to reduce extra hardware configuration and save a warehouse location management system with a complicated operation process when detecting warehouse location goods, can realize automatic goods taking inspection of the laser forklift, reduces limitation of goods placement, and is flexible, simple and convenient to operate.
As a preferred embodiment, as shown in fig. 2, the laser forklift performs cargo presence detection on the storage locations a1, a2 and A3 to determine whether to perform a cargo picking operation, which includes the following steps:
step S2: and the laser forklift walks to the parking detection point 1 according to the received working instruction.
Step S4: the front laser scanner 210 is switched to the storage position detection area a to detect whether goods exist at the storage position a1, if yes, a goods taking path is obtained to control the laser forklift to go to the storage position a1 to take the goods, and if not, the step S6 is performed.
Step S6: and (4) walking to a parking detection point 2 according to the received work instruction, repeating the step S4 to detect a storage position A2, if the goods are detected, acquiring a goods taking path to control the laser forklift to go to the storage position A2 to take the goods, and otherwise, entering the step S8.
Step S8: and (4) walking to a parking detection point 3 according to the received work instruction, repeating the step S4 to detect the storage position A3, if the goods are detected, acquiring a goods taking path to control the laser forklift to go to the storage position A3 to take the goods, and if the goods are not detected, ending the inspection of the storage.
Due to the fact that manual replenishment is possibly not timely, the storage positions related to the parking detection points in the work instructions issued by the central control equipment are detected to be full of goods. At the moment, the laser forklift can continuously and circularly patrol the warehouse until the goods at a certain warehouse position are detected to finish the goods taking task; or waiting for a certain time to patrol the warehouse again after each warehouse patrol is finished, and completing the goods taking task after goods are detected at a certain warehouse position; or the warehouse is only patrolled once, and after all the warehouse positions have no goods, the current task is ended and the system returns to the standby point.
Further, as shown in fig. 2, the laser forklift detects double rows of storage positions such as row a and row B according to the working instruction, the double row storage position side detection step is the same as the single row side storage position detection, each parking detection point is associated with two storage positions and corresponds to two storage position detection areas, for example, the parking detection point 1 corresponds to the storage position detection areas a and B. The laser scanner 210 in front can detect whether there is a good in two storehouses simultaneously or in a time-sharing manner, and when it detects that there is a good in any storehouse, it executes a corresponding goods taking operation, and if there is no good in both storehouses, it can walk to the next parking detection point.
Further, as shown in fig. 4, the laser forklift detects multiple rows of storage positions according to the working instructions, such as a row a, a row B, a row C and a row D, the multiple rows of storage position side detection steps are the same as the single row of storage position side detection, each parking detection point is associated with two storage positions and corresponds to two storage position detection areas, the laser scanner can detect whether two storage positions have goods or not simultaneously or in a time-sharing manner, when any storage position has goods, corresponding goods taking operation is executed, and when no goods exist in the two storage positions, the laser forklift can walk to the next parking detection point.
Referring to fig. 2, in a specific embodiment, whether the laser forklift performs a corresponding picking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, and further comprising:
and when the task type is a goods placing task, if the detection result is no goods, obtaining a goods placing path from the corresponding parking detection point to the corresponding storage position, controlling the laser forklift to place the goods along the goods placing path, and if the detection result is goods, walking to the next parking detection point according to the received working instruction to detect whether the goods are placed at the corresponding storage position.
The goods placing path can be issued by the central control equipment or acquired by the laser forklift according to a built-in map.
The goods taking and placing method of the laser forklift can help to reduce extra hardware configuration and save a warehouse management system with a complicated operation process when detecting warehouse goods, can realize automatic inspection of the laser forklift for goods placing, reduces limitation of goods placing, and is flexible, simple and convenient to operate.
As a preferred embodiment, as shown in fig. 2, the laser forklift performs a side detection of the presence or absence of the cargo on the storage positions a1, a2 and A3 to determine whether to perform a put operation, as follows:
step S10: and the laser forklift walks to the parking detection point 1 according to the received working instruction.
Step S12: the front laser scanner 210 is switched to the storage position detection area a to detect whether goods exist at the storage position a1, if no goods exist, a goods placing path is obtained to control the laser forklift to go to the storage position a1 to place the goods, and if not, the step S14 is executed.
Step S14: and (4) walking to a parking detection point 2 according to the received work instruction, repeating the step S12 to detect a storage space A2, if no goods are detected, acquiring a goods placing path to control the laser forklift to go to the storage space A2 for goods placing, and if not, entering the step S16.
Step S16: and (4) walking to a parking detection point 3 according to the received work instruction, repeating the step S4 to detect the storage position A3, if no goods are detected, acquiring a goods taking path to control the laser forklift to go to the storage position A3 to take goods, and if not, ending the inspection of the storage.
The situation that goods are not pulled away manually in time is possible, so that no free storage position is available, safety consideration is given, and the goods can not be returned to a standby point, so that when the goods placing task is executed, if no free storage position is available, the laser forklift is used for circularly patrolling the goods storage or waits for a certain time to patrol the goods storage again after patrolling the goods storage each time, and the goods placing task is completed after detecting that a certain storage position is free.
Further, as shown in fig. 2, the laser forklift detects the row a and the row B of the double-row parking positions according to the working instruction, the step of detecting the multiple-row side parking positions is the same as the step of detecting the single-row side parking positions, each parking detection point is associated with two parking positions and corresponds to two parking position detection areas, whether goods exist in the two parking positions can be detected simultaneously or in a time-sharing manner, when no goods exist in any parking position is detected, corresponding goods placing operation is executed, and if goods exist in all parking positions, the laser forklift can walk to the next parking detection point.
Further, as shown in fig. 4, the laser forklift detects multiple rows of storage positions according to the working instructions, such as a row a, a row B, a row C and a row D, the multiple rows of storage position side detection steps are the same as the single row of storage position side detection, each parking detection point is associated with two storage positions and corresponds to two storage position detection areas, the laser scanner can detect whether two storage positions have goods or not simultaneously or in a time-sharing manner, when no goods exist in any storage position, corresponding goods placing operation is executed, and when both storage positions have goods, the laser forklift can walk to the next parking detection point.
Further, when there are many rows of storehouse positions, as shown in fig. 4, when laser fork truck comes this region to pick and place goods, the central control equipment preferentially makes laser fork truck enter the nearest passageway of this current position distance and patrol the storehouse position according to laser fork truck's current position. For example, the laser forklift is currently located at the position L, so that a work instruction is issued to enable the laser forklift to firstly enter the running channel to patrol the storage positions of the row A and the row B. And if the row A and the row B are empty or occupied, the central control equipment issues an instruction to enable the laser forklift to enter a second driving channel to patrol the storage positions of the row C and the row D.
Referring to fig. 3, in a specific embodiment, whether the laser forklift performs the corresponding picking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, wherein the steps comprise:
when the task type is a goods taking task, if the detection result is that goods exist, executing goods taking operation; and if the detection result is no goods, controlling the laser forklift to continue to walk along the terminal warehouse position direction of the warehouse position according to the received working instruction, and if no goods are detected when the laser forklift walks to the terminal warehouse position of the warehouse position, walking to the next parking detection point according to the received working instruction to detect whether goods exist in the corresponding warehouse position.
In this embodiment, each parking detection point corresponds to a row of storage locations and is located at the starting point of the row of storage locations, and according to the position information of the parking detection point and the position information of the storage locations, the laser forklift can judge whether to walk to the last storage location of the corresponding row of storage locations, that is, the end storage location. According to the laser forklift of the embodiment, the rear warehouse location detection is executed according to the position relation between the parking detection point and the warehouse location, and any position on the corresponding warehouse location is the warehouse location detection area range. The method for picking and placing the goods by the laser forklift can automatically detect whether the goods exist in the storage position of at least one queue or not so as to finish the goods picking task, and then the goods can be flexibly placed on the queue, the goods on the queue can be taken away by the laser forklift, and the goods at the forefront end of the queue are preferably taken away.
As a preferred embodiment, as shown in fig. 3, the laser forklift performs a task of picking up goods from the storage location in column a according to the obtained work instruction, and may perform the following rear detection process of whether the storage location has goods:
step S18: and the laser forklift walks to the parking detection point 1 according to the received working instruction.
Step S20: the rear laser scanner 310 switches to the storage position detection area, that is, from the storage position a1 to the storage position A3 in the direction of the row of storage positions, detects whether the storage position a1 has a good, if so, performs the operation of picking up the good, otherwise, the operation goes to step S22.
Step S22: and controlling the laser forklift to walk along the direction of the terminal station A3 of the column station according to the received working instruction, if the goods are detected, executing the goods taking operation, otherwise, repeating the step until the terminal station A3 is reached, and entering the step S24.
Step S24: if the terminal station a3 is reached, the pick-up operation is performed, and if no cargo is detected, the process proceeds to step S26.
Step S26: and walking to the next parking detection point according to the received work instruction, repeating the steps of S18-S24, and detecting whether the corresponding storage position is in good or not.
Referring to fig. 3, in a specific embodiment, whether the laser forklift performs the corresponding picking or placing operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, and further comprising:
when the task type is a goods release task, if the detection result is no goods, controlling the laser forklift to continue to walk along the terminal warehouse position direction of the warehouse position point until the laser scanner detects that goods exist, and controlling the laser forklift to walk along the starting point direction of the warehouse position point for a preset distance to release the goods; and if the detection result is that goods exist, walking to the next parking detection point according to the received work instruction to detect whether the goods exist in the corresponding storage position.
According to the method for picking and placing the goods by the laser forklift, disclosed by the embodiment of the invention, the laser forklift executes rear warehouse location detection according to the position relation between the parking detection point and the warehouse location, and any position on the corresponding warehouse location is the warehouse location detection area range. And queuing and putting goods from back to front on the queue according to a preset distance. The embodiment of the invention can enable the laser forklift to automatically complete the detection whether the storage position of at least one queue has goods or not, complete the goods placing task and further flexibly place the goods on the queue.
As a preferred embodiment, as shown in fig. 3, the laser forklift performs a task of putting goods in the storage space in column a according to the obtained work instruction, and may execute the following rear detection process of whether the storage space has goods:
step S28: and the laser forklift walks to the parking detection point 1 according to the received working instruction.
Step S30: the rear laser scanner 310 is switched to the storage position detection area, namely, the storage position A1 is detected whether goods exist or not from the storage position A1 to the storage position A3 along the direction of the row of storage positions, if no goods exist, the laser scanner walks along the direction of the terminal storage position A3 of the row until the laser scanner detects that goods exist, the laser forklift is controlled to walk for a preset distance along the direction of the starting point of the row of storage positions and then releases the goods, and if not, the step S32 is carried out.
Step S32: and walking to the next parking detection point according to the working instruction to detect whether goods exist in the corresponding storage position.
And if the first storage position of the corresponding column detects that goods exist, determining that the storage positions in the column are occupied, and temporarily not having free storage positions for placing goods. Further, if the laser forklift reaches the terminal storage position of the corresponding row and no goods are detected, the row of storage positions is determined to be free, and the goods can be placed on the terminal storage position.
Further, when there are multiple rows of storage locations, as shown in fig. 5, there are A, B and C rows of storage locations, each row has three storage locations, and similarly to the single row of rear bank patrol, there is a parking detection point at the starting point of each row, and there are three parking detection points 1, 2, and 3 in the figure. When the laser forklift is at the current position I, the central control device can issue a working instruction according to the current position of the laser forklift, the working instruction can include a parking detection point 1 to enable the laser forklift to carry out warehouse location detection on the warehouse location in the row A closest to the laser forklift, and if the warehouse locations in the row A are empty or occupied, the central control device issues the working instruction to enable the forklift to enter the warehouse locations in the row B and the row C according to the task type. If A, B, C are empty or occupied, the warehouse may be cycled between A, B, C three columns until the pick or put task is completed. Furthermore, the central control equipment can issue a plurality of parking detection points, and the laser forklift can sequentially detect whether goods exist in the corresponding storage spaces from near to far according to the current position.
Referring to fig. 7, in one embodiment, there is one laser scanner 710 located in front of the laser forklift and located right in front.
According to the goods taking and placing method of the laser forklift, disclosed by the embodiment of the invention, the laser scanner of the laser forklift can be reasonably utilized to detect the storage position, so that the goods taking and placing efficiency is improved, and extra hardware layout and other detection procedures are omitted.
Referring to fig. 8, in one embodiment, two laser scanners 810 are provided in front of the laser forklift, and are respectively provided at both sides of the front of the laser forklift and at a predetermined angle with respect to the central axis of the laser forklift.
According to the goods taking and placing method of the laser forklift, disclosed by the embodiment of the invention, the laser scanner of the laser forklift can be reasonably utilized to detect the storage position, so that the goods taking and placing efficiency is improved, and extra hardware layout and other detection procedures are omitted.
Referring to fig. 6, when laser fork truck the place ahead was equipped with two laser scanners 810, can detect the storehouse position on both sides simultaneously, improve the efficiency that detects the storehouse position, guarantee to cover the corresponding storehouse position of parking detection point. For example, when the laser forklift travels to the stop detection point 1, the left laser scanner 810 can detect the storage position a1 and the right laser scanner 810 can detect the storage position B1 for the presence of cargo.
Referring to fig. 9, in another aspect, an embodiment of the present invention further provides a pick-and-place system for a laser forklift, including a central control device 910 and a laser forklift 920;
the central control equipment 910 is used for sending a working instruction to the laser forklift 920;
the laser forklift 920 is used for executing a goods taking and placing method of the laser forklift when the working instruction is obtained.
It should be noted that the steps of the method for picking and placing goods by a laser forklift according to the embodiment of the present invention are the same as those of the method for picking and placing goods by a laser forklift according to the above embodiments, and are not described herein again.
According to the goods taking and placing system of the laser forklift, the laser forklift can switch the original obstacle avoidance detection area into the storage position detection area by using the corresponding laser scanner after reaching the corresponding parking detection point according to the obtained working instruction, so that the corresponding storage position is detected, and the detection of whether goods exist in the storage position is realized without additionally arranging storage position detection equipment. Furthermore, according to the position information and the position information of the pre-stored parking detection points, the position detection area of the laser scanner associated with the parking detection points is determined, so that the scanning range of the corresponding laser scanner can be switched to a specified area, meanwhile, the interference of other positions is reduced, and the detection precision is improved. The goods taking and placing system of the laser forklift is beneficial to reducing extra hardware configuration and omitting a warehouse management system with a complicated operation process when detecting warehouse goods, can realize automatic inspection of the goods taking and placing of the laser forklift, reduces limitation of goods placing, and is flexible, simple and convenient to operate.
Referring to fig. 10, as a preferred embodiment, the laser scanner 120 behind the laser forklift is installed below the yoke 130, so that the yoke 130 needs to be lifted to a certain height for performing the storage location detection, so as to ensure that the laser scanner 120 is not blocked by the yoke 130. A load switch 110 is mounted on the yoke 130 for detecting whether or not loading is successful. Specifically, when the laser forklift performs a pickup operation, the fork arm 130 is adjusted to a set pickup height and is continuously retreated until the pickup switch detects that there is a cargo, and then the laser forklift stops and is lifted to separate the cargo from the ground to finish pickup. When the laser forklift performs a stock placing operation, the yoke 130 is lowered to a stock placing height, and the stock placing is performed.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The system embodiments described above are merely illustrative, and the flowcharts and block diagrams in the figures, for example, illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, each functional module or unit in each embodiment of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part of the technical solution that contributes to the prior art in essence can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention.
Claims (9)
1. The utility model provides a laser fork truck gets method of putting goods which characterized in that includes:
controlling the laser forklift to walk to the corresponding parking detection point according to a working instruction comprising the task type and the parking detection point;
determining a storage position detection area of the laser scanner corresponding to the corresponding parking detection point according to the position information of the corresponding parking detection point and the storage position information pre-associated with the corresponding parking detection point, and switching the corresponding laser scanner from an obstacle avoidance detection area to the storage position detection area to detect whether the corresponding storage position is in good condition or not;
determining whether the laser forklift carries out corresponding goods taking or placing operation or not according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps;
and if the parking detection point is determined to be positioned at the side of the queue where the pre-associated storage position is positioned according to the storage position information, detecting whether the corresponding storage position has goods or not by adopting a laser scanner arranged in front of the laser forklift.
2. The method for picking and placing goods by a laser forklift as claimed in claim 1, wherein if it is determined that the parking detection point corresponds to a row of storage positions and is located at the starting point of the row of storage positions according to the storage position information, a laser scanner behind the laser forklift is used for detecting whether goods are in the corresponding storage positions.
3. The pick-and-place method of the laser forklift as claimed in claim 1, wherein whether the laser forklift performs the corresponding pick-and-place operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, wherein the steps comprise:
and when the task type is a goods taking task, if the detection result is that goods exist, acquiring a goods taking path from the corresponding parking detection point to the corresponding storage position, controlling the laser forklift to take the goods along the goods taking path, and if the detection result is that no goods exist, walking to the next parking detection point according to the received working instruction to detect whether the goods exist in the corresponding storage position.
4. The pick-and-place method of the laser forklift as claimed in claim 1, wherein whether the laser forklift performs the corresponding pick-and-place operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, and further comprising:
and when the task type is a goods putting task, if the detection result is no goods, acquiring a goods putting path from the corresponding parking detection point to the corresponding storage position, controlling the laser forklift to put goods along the goods putting path, and if the detection result is goods, walking to the next parking detection point according to the received working instruction to detect whether goods are available at the corresponding storage position.
5. The pick-and-place method of the laser forklift as claimed in claim 2, wherein whether the laser forklift performs the corresponding pick-and-place operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, wherein the steps comprise:
when the task type is a goods taking task, if the detection result is that goods exist, executing goods taking operation; and if the detection result is no goods, controlling the laser forklift to continue to walk along the terminal warehouse position direction of the warehouse position according to the received working instruction, and if no goods are detected when the laser forklift walks to the terminal warehouse position of the warehouse position, walking to the next parking detection point according to the received working instruction to detect whether goods exist in the corresponding warehouse position.
6. The pick-and-place method of the laser forklift as claimed in claim 2, wherein whether the laser forklift performs the corresponding pick-and-place operation is determined according to the detection result and the task type; if yes, executing corresponding goods taking or placing operation; if not, continuing to execute the detection of whether goods exist in the next storage position according to the received working instruction and the subsequent steps, and further comprising:
when the task type is a goods release task, if the detection result is no goods, controlling the laser forklift to continue to walk along the terminal warehouse position direction of the row of warehouse positions, and controlling the laser forklift to walk along the initial point direction of the row of warehouse positions for a preset distance to release the goods when the laser scanner detects that the goods exist; and if the detection result is that goods exist, walking to the next parking detection point according to the received work instruction to detect whether goods exist in the corresponding storage position.
7. The method of claim 1, wherein the laser scanner is provided in front of the laser forklift.
8. The method as claimed in claim 1, wherein the number of the laser scanners provided in front of the laser forklift is two, and the two laser scanners are respectively provided in both sides in front of the laser forklift and form a predetermined angle with a central axis of the laser forklift.
9. The goods taking and placing system of the laser forklift is characterized by comprising a central control device and the laser forklift;
the central control equipment is used for sending a working instruction to the laser forklift;
the laser forklift is used for executing the picking and placing method of the laser forklift according to any one of claims 1 to 8 when the working instruction is obtained.
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| CN110979181A (en) * | 2019-12-26 | 2020-04-10 | 安徽合力股份有限公司 | Electric fork-lift safety protection control system |
| CN112630786A (en) * | 2020-12-07 | 2021-04-09 | 兰剑智能科技股份有限公司 | AGV buffer area inventory method, device and equipment based on 2D laser |
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