CN118243060A

CN118243060A - Container skew detection method, container skew detection system, container skew detection device and container skew detection equipment

Info

Publication number: CN118243060A
Application number: CN202211657004.8A
Authority: CN
Inventors: 张金虎; 王鹏; 汤育文
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2022-12-22
Filing date: 2022-12-22
Publication date: 2024-06-25

Abstract

The embodiment of the disclosure discloses a container skew detection method, a container skew detection system, a container skew detection device and container skew detection equipment. One embodiment of the method comprises the following steps: in response to determining that the handling equipment is driven to the storage position of the target container, controlling a laser output head assembly of the handling equipment to emit laser to a photoresistor strip assembly corresponding to the storage position, wherein the photoresistor strip assembly is used for determining whether the target container is askew; determining the change quantity of each photoresistor strip with the current change of the photoresistor strip in the photoresistor strip assembly, wherein the current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly; in response to determining that the number of variations is less than the target number, the target number is determined to be a skewed bin, wherein the target number is a number of photoresistor bars included in the photoresistor bar assembly. This embodiment is related with wisdom commodity circulation, has promoted the precision to the crooked detection of packing box, has reduced detection error.

Description

Container skew detection method, container skew detection system, container skew detection device and container skew detection equipment

Technical Field

The embodiment of the disclosure relates to the field of logistics, in particular to a container skew detection method, a container skew detection system, a container skew detection device and container skew detection equipment.

Background

In the field of logistics, before transporting a container on a shelf, skew detection is generally performed on the container to be transported, so as to prevent collision between a transporting device and the skewed container. At present, the skew detection is carried out on a container to be carried, and the method is generally adopted as follows: two groups of photoelectric sensors (diffuse reflection or mirror reflection) are adopted to irradiate two sides of the container, and if the container is detected to be in a correct position, the container can be moved; if the photoelectric sensor detects the container, the container is judged to be skewed, and manual intervention is needed.

However, the following technical problems generally exist in the above manner: the galvanized layer on the surface of the goods shelf reflects light, so that the detection precision of the photoelectric sensor can be reduced; the farther the photoelectric sensor irradiates, the larger the light spot is, and the detection error is easily caused by irradiation to the container.

The above information disclosed in this background section is only for enhancement of understanding of the background of the inventive concept and, therefore, may contain information that does not form the prior art that is already known to those of ordinary skill in the art in this country.

Disclosure of Invention

The disclosure is in part intended to introduce concepts in a simplified form that are further described below in the detailed description. The disclosure is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

Some embodiments of the present disclosure propose a container skew detection method, a container skew detection system, an apparatus, an electronic device, a computer readable medium and a program product to solve one or more of the technical problems mentioned in the background section above.

In a first aspect, some embodiments of the present disclosure provide a method of detecting a skew of a container, the method comprising: in response to determining that the carrying equipment runs to a storage position of a target container, controlling a laser output head assembly of the carrying equipment to emit laser to a photoresistor strip assembly corresponding to the storage position, wherein the photoresistor strip assembly is used for determining whether the target container is skewed, the photoresistor strip assembly comprises a first photoresistor strip and a second photoresistor strip, the photoresistor strip assembly is arranged on the outer side of a goods shelf corresponding to the storage position, the outer side of the goods shelf is far away from a roadway, and the set positions of the first photoresistor strip and the second photoresistor strip are different in height; determining the change quantity of each photoresistor strip with the current change of the photoresistor strip in the photoresistor strip assembly, wherein the current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly; and in response to determining that the number of variations is less than a target number, determining the target container as a skewed container, wherein the target number is a number of photoresistor bars included in the photoresistor bar assembly.

Optionally, the method further comprises: and sending the container position of the skew container to an associated container adjusting terminal so as to enable a worker to adjust the placing angle of the skew container.

Optionally, the method further comprises: and controlling the conveying equipment to convey the target container to a preset delivery position in response to the fact that the change quantity is equal to the target quantity.

Optionally, the determining the number of changes of each of the photoresistor strips in the photoresistor strip assembly includes: for each of the above-described photo-resistive strip assemblies, the following processing steps are performed: determining whether the current reduction of the photoresistor strip is larger than or equal to a preset current reduction; generating a current change signal in response to determining that the current reduction amount of the photo resistive strip is equal to or greater than the preset current reduction amount; the number of the generated respective current change signals is determined as the number of changes of the respective photo-resistive strips.

Optionally, the laser output head assembly includes a first laser output head and a second laser output head, where the first laser output head and the second laser output head are respectively set on two forks on two sides of the handling device, and the positions set by the first laser output head and the second laser output head are different in height; and the laser output head assembly for controlling the carrying device emits laser to the photoresistor strip assembly corresponding to the storage position, comprising: controlling the first laser output head to emit laser to the first photoresistor strip; and controlling the second laser output head to emit laser to the second photoresistor strip.

In a second aspect, some embodiments of the present disclosure provide a container skew detection system including: the three-dimensional goods shelf is used for storing the target goods shelf, a photoresistor strip assembly is arranged on the outer side of the goods shelf of the three-dimensional goods shelf, the photoresistor strip assembly comprises a first photoresistor strip and a second photoresistor strip, the outer side of the goods shelf is one side far away from a roadway, and the set positions of the first photoresistor strip and the second photoresistor strip are different in height; the handling equipment is used for handling the target container, and comprises a laser output head assembly, wherein the laser output head assembly comprises a first laser output head and a second laser output head, the first laser output head and the second laser output head are respectively arranged on two side forks of the handling equipment, and the positions of the first laser output head and the second laser output head are different in height; under the working condition, the carrying equipment moves to the storage position of the target container, the first laser output head is controlled to emit laser to the first photoresistor strip, and the second laser output head is controlled to emit laser to the second photoresistor strip so as to determine whether the target container is skewed.

Optionally, the above container skew detection system further includes: the three-dimensional goods shelf terminal is electrically connected with the photoresistor strip component; the three-dimensional shelf terminal determines the change quantity of each photoresistor strip with the current change of the photoresistor strip in the photoresistor strip assembly, wherein the current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly; the stereoscopic shelf terminal determines the target container as a skewed container in response to determining that the number of variations is less than a target number, wherein the target number is a number of photo resistive strips included in the photo resistive strip assembly.

In a third aspect, some embodiments of the present disclosure provide a container skew detection apparatus, the apparatus comprising: a control unit configured to control a laser output head assembly of a handling apparatus to emit laser to a photo-resistive strip assembly corresponding to a storage position of a target container in response to determining that the handling apparatus is traveling to the storage position, wherein the photo-resistive strip assembly is used for determining whether the target container is skewed, the photo-resistive strip assembly includes a first photo-resistive strip and a second photo-resistive strip, the photo-resistive strip assembly is set outside a shelf corresponding to the storage position, the outside of the shelf is a side far away from a roadway, and a set position of the first photo-resistive strip and the second photo-resistive strip is different in height; a first determining unit configured to determine a change amount of each of the photo-resistive strips of the photo-resistive strip assembly, wherein the photo-resistive strip current change indicates that the photo-resistive strip receives the laser light emitted from the laser output head assembly; and a second determining unit configured to determine the target container as a skewed container in response to determining that the number of variations is less than a target number, wherein the target number is a number of photo resistive strips included in the photo resistive strip assembly.

Optionally, the apparatus further comprises: and the sending unit is configured to send the container position of the skew container to the associated container adjusting terminal so as to enable a worker to adjust the placing angle of the skew container.

Optionally, the apparatus further comprises: and an equipment control unit configured to control the conveying equipment to convey the target container to a preset delivery position in response to determining that the change amount is equal to the target amount.

Optionally, the first determining unit is further configured to: for each of the above-described photo-resistive strip assemblies, the following processing steps are performed: determining whether the current reduction of the photoresistor strip is larger than or equal to a preset current reduction; generating a current change signal in response to determining that the current reduction amount of the photo resistive strip is equal to or greater than the preset current reduction amount; the number of the generated respective current change signals is determined as the number of changes of the respective photo-resistive strips.

Optionally, the laser output head assembly includes a first laser output head and a second laser output head, where the first laser output head and the second laser output head are respectively set on two forks on two sides of the handling device, and the positions set by the first laser output head and the second laser output head are different in height.

Optionally, the control unit is further configured to: controlling the first laser output head to emit laser to the first photoresistor strip; and controlling the second laser output head to emit laser to the second photoresistor strip.

In a fourth aspect, some embodiments of the present disclosure provide an electronic device comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors causes the one or more processors to implement the method described in any of the implementations of the first aspect above.

In a fifth aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

In a sixth aspect, some embodiments of the present disclosure provide a computer program product comprising a computer program which, when executed by a processor, implements the method described in any of the implementations of the first aspect above.

The above embodiments of the present disclosure have the following advantageous effects: by the container skew detection method of some embodiments of the present disclosure, the precision of container skew detection is improved, and the detection error is reduced. Specifically, the detection error is caused by: the galvanized layer on the surface of the goods shelf reflects light, so that the detection precision of the photoelectric sensor can be reduced; the farther the photoelectric sensor irradiates, the larger the light spot is, and the detection error is easily caused by irradiation to the container. Based on this, the container skew detection method of some embodiments of the present disclosure first controls the laser output head assembly of the above-described transporting apparatus to emit laser light to the photo-resistive strip assembly corresponding to the above-described storage position in response to determining that the transporting apparatus is traveling to the storage position of the target container. The light-sensitive resistor strip assembly is used for determining whether the target container is skewed or not, the light-sensitive resistor strip assembly comprises a first light-sensitive resistor strip and a second light-sensitive resistor strip, the light-sensitive resistor strip assembly is arranged on the outer side of a goods shelf corresponding to the storage position, the outer side of the goods shelf is one side far away from a roadway, and the positions of the first light-sensitive resistor strip and the second light-sensitive resistor strip are different in height. Therefore, the high light focusing property of laser can be utilized to carry out skew detection on the container, so that the problem of detection error caused by larger light spots when the irradiation distance of the traditional photoelectric sensor is longer is avoided. Then, the number of changes in each of the photo-resistive strips of the photo-resistive strip assembly in which the current of the photo-resistive strip changes is determined. The current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly. Thus, whether the laser emitted by the laser output head assembly is directed to the photo-resistive strip can be determined by the current variation of the photo-resistive strip. Finally, in response to determining that the number of variations is less than the target number, the target container is determined to be a skewed container. Therefore, the laser is utilized to carry out skew detection on the container, so that the influence caused by reflection of a galvanized layer on the surface of the goods shelf is avoided, the precision of the skew detection on the container is improved, and the detection error is reduced.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

FIG. 1 is a schematic illustration of one application scenario of a container skew detection method of some embodiments of the present disclosure;

2-3 are schematic structural views of a laser output head assembly of a handling apparatus of a container skew detection method according to some embodiments of the present disclosure;

FIGS. 4-5 are schematic structural views of a photo resistive strip assembly of a handling apparatus for a container skew detection method according to some embodiments of the present disclosure;

6-7 are application scenario diagrams of a container skew detection method according to some embodiments of the present disclosure;

FIG. 8 is a flow chart of some embodiments of a method of container skew detection according to the present disclosure;

FIG. 9 is a schematic structural view of some embodiments of a container skew detection system according to the present disclosure;

FIG. 10 is a schematic structural view of some embodiments of a container skew detection apparatus according to the present disclosure;

fig. 11 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. Embodiments of the present disclosure and features of embodiments may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.

It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.

The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a schematic view of an application scenario of a handling apparatus of a container skew detection method according to some embodiments of the present disclosure.

In the application scenario of fig. 1, it includes: three-dimensional goods shelves, shuttle and packing box. The three-dimensional goods shelf comprises storage positions and is used for storing containers, the shuttle vehicle shuttles on the rails, and the containers are taken and put on the corresponding storage positions.

It should be noted that, the shuttle shown in fig. 1 may refer to the handling device of the present application; the cargo box shown in fig. 1 may be referred to as a target cargo box of the present application; the location of the storage contained in the stereoscopic shelf of fig. 1 may refer to the storage location of the target container.

Fig. 2-3 are schematic structural views of a laser output head assembly of a handling apparatus for a container skew detection method according to some embodiments of the present disclosure.

Fig. 2 shows a fork of a shuttle (handling device) comprising the components according to the application: the fixing clamp 1, the enclasping screw 2, the laser output head assembly 3 (which is a low-power laser output head only used for outputting laser, and the laser excitation device is positioned in an electric bin in front of and behind the shuttle car) and the fixing screw 4. The laser output head assembly 3 is fixed in the fixed clamp 1 and is locked by the enclasping screw 2; the fixing screw 4 mounts the fixing clip 1 on the protruding plate. Here, the laser output head assembly 3 may include two laser output heads.

As shown in fig. 3, the laser output head assembly is arranged on an extension board of the pallet fork, one laser output head is arranged at a higher position (high mounting position) on the pallet fork, and the other laser output head is arranged at a lower position (low mounting position) on the pallet fork; the laser output head assembly detects whether the storage containers at two sides of the roadway are askew or not respectively.

Fig. 4-5 are schematic structural views of a photo resistive strip assembly of a handling apparatus for a container skew detection method according to some embodiments of the present disclosure.

Fig. 4 may show a schematic of the mounting arrangement of the photo-resistive strip assembly 5 set outside the shelf, which is mounted on the side of the shelf outside remote from the roadway.

As shown in fig. 5, the photoresistor strip assembly may comprise a 5-1 channel mount and a 5-2 photoresistor strip set. Wherein, the 5-1 groove type mounting frame is a fixed part, and an upper photoresistor strip and a lower photoresistor strip are stuck on the fixed part and then fixed on the side face of the three-dimensional goods shelf. That is, the 5-2 photo-resistive strip group includes an upper photo-resistive strip (first photo-resistive strip) and a lower photo-resistive strip (second photo-resistive strip). The 5-1 groove type mounting frame is an N-shaped sheet metal part and can shield light rays in the three-dimensional warehouse for two resistance bars.

Fig. 6-7 are application scenario diagrams of a container skew detection method according to some embodiments of the present disclosure.

As shown in fig. 6, in the working state, the laser output head assembly of the handling device can be controlled to emit two laser beams, one high and one low, to be respectively irradiated onto the photo resistor strip groups 5-2 (the upper side photo resistor strip and the lower side photo resistor strip) of the photo resistor strip assembly set outside the shelf illustrated in fig. 7. Thus, it can be determined whether the target container is askew.

It should be noted that, the execution subject of the container skew detection method may be a computing device of a warehouse where the handling device is located. When the main body of execution of the container skew detection method is a computing device, the computing device may be hardware or software. When the computing device is hardware, the computing device may be implemented as a distributed cluster formed by a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices listed above. It may be implemented as a plurality of software or software modules, for example, for providing distributed services, or as a single software or software module. The present invention is not particularly limited herein.

With continued reference to fig. 8, a flow 800 of some embodiments of a method of container skew detection according to the present disclosure is shown. The container skew detection method comprises the following steps:

In step 801, in response to determining that the handling device is traveling to a storage location of the target cargo box, a laser output head assembly of the handling device is controlled to emit laser light to a photoresistor strip assembly corresponding to the storage location.

In some embodiments, an execution body of the container skew detection method (for example, a management server of a warehouse for storing containers) may control a laser output head assembly of the handling device to emit laser light to a photosensitive resistor bar assembly corresponding to a storage position of a target container in response to determining that the handling device is driven to the storage position. Wherein the light sensitive resistor strip assembly is used to determine whether the target container is skewed. Wherein the handling device may be a transport device for handling and transporting containers. For example, the handling device may be a shuttle. The target container refers to a container to be taken out of the warehouse. The laser output head assembly may be a lasing assembly. The laser output head assembly may comprise a plurality of laser output heads. The storage location may represent the location of the storage location where the target cargo box is located. The photoresistor strip assembly corresponding to the storage position can be a photoresistor strip assembly arranged on one side, far away from the roadway, of the goods shelf where the storage position is located. The photoresistor strips in the photoresistor strip assembly are photoresistor strips in an energized state. When laser irradiates the photoresistor strip, the resistance value of the photoresistor strip is rapidly increased, so that the current is rapidly reduced and even becomes an open circuit without current. The photoresistance strip assembly comprises a first photoresistance strip and a second photoresistance strip. The photoresistor strip component is arranged on the outer side of the goods shelf corresponding to the storage position. The outer side of the goods shelf is far away from the roadway. The first photoresistor strip is different from the second photoresistor strip in set position.

In practice, in response to determining that the handling equipment is traveling to the storage position of the target container, the laser output head assembly of the handling equipment is controlled to emit laser light to each of the photoresistor strips in the photoresistor strip assembly corresponding to the storage position.

Optionally, the photo-resistive strip assembly includes a first photo-resistive strip and a second photo-resistive strip, and the photo-resistive strip assembly is set on an outer side of the shelf corresponding to the storage location, where the outer side of the shelf is a side far away from the roadway (see fig. 4-5 and related description). The first photoresistor strip and the second photoresistor strip are different in set position height, the laser output head assembly comprises a first laser output head and a second laser output head, the first laser output head and the second laser output head are respectively set on two side forks of the conveying equipment, and the first laser output head and the second laser output head are different in set position height. The laser output head assembly described above may be particularly referred to in the description of fig. 2-3.

In some optional implementations of some embodiments, the executing body may control the laser output head assembly of the handling apparatus to emit laser light to the photosensitive resistor strip assembly corresponding to the storage position by:

And a first step of controlling the first laser output head to emit laser to the first photoresistor strip.

And a second step of controlling the second laser output head to emit laser to the second photoresistor strip.

When the execution body controls the laser output head assembly to emit laser to the photoresistor bar assembly corresponding to the storage position, the execution body firstly lifts the laser output head assembly to the storage position corresponding to the storage position, and then controls the laser output head assembly to emit laser to the photoresistor bar assembly corresponding to the storage position.

Step 802, determining the number of changes of each of the photoresistor strips in the photoresistor strip assembly.

In some embodiments, the executing body may determine a number of changes of each of the plurality of photo resistive strips in the photo resistive strip assembly. The current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly. In practice, when laser irradiates on the photoresistor strip, the resistance value of the photoresistor strip is rapidly increased, so that the current is rapidly reduced and even becomes an open circuit without current. Therefore, the execution body can detect the changing amount of each of the photo resistive strips in the photo resistive strip assembly in which the photo resistive strip current is rapidly reduced.

In some alternative implementations of some embodiments, the executing entity may determine the number of changes in each of the plurality of photo resistor strips by changing the current of the photo resistor strip in the photo resistor strip assembly by:

first, for each of the above-described photo resistive strip assemblies, the following processing steps are performed:

A first substep, determining whether the current reduction of the photoresistor strip is greater than or equal to a preset current reduction. Here, the setting of the preset current reduction amount is not limited. The current reduction amount may refer to an amount of current reduction caused by an increase in resistance value of the photo resistive strip when laser light is irradiated onto the photo resistive strip.

And a second sub-step of generating a current change signal in response to determining that the current decrease amount of the photo resistive strip is equal to or greater than the preset current decrease amount. Here, the current change signal may indicate that the light-sensitive resistive strip receives the laser light emitted from the laser output head assembly.

And a second step of determining the number of generated current change signals as the number of changes of each photoresistor strip.

In response to determining that the number of variations is less than the target number, the target container is determined to be a skewed container 803.

In some embodiments, the executing entity may determine the target container as a skewed container in response to determining that the number of variations is less than a target number. Wherein the target number is the number of the photoresistor strips included in the photoresistor strip assembly.

Optionally, the container position of the skewed container is sent to an associated container adjustment terminal for a worker to adjust the placement angle of the skewed container.

In some embodiments, the executing body may send the container position of the skewed container to an associated container adjustment terminal for a worker to adjust the placement angle of the skewed container. Here, the container position may refer to a storage position of a skewed container. The associated bin adjustment terminal may refer to a terminal communicatively coupled to the executing body for adjusting a presentation angle of the skewed bin. Thus, the skewed container can be aligned.

Optionally, in response to determining that the number of variations is equal to the target number, controlling the handling device to handle the target container to a preset delivery location.

In some embodiments, the executing body may control the transporting apparatus to transport the target container to a preset delivery position in response to determining that the number of variations is equal to the target number. Here, the preset delivery position may be a position for delivery of the cargo box in a preset warehouse.

With further reference to fig. 9, as an implementation of the method illustrated in the above figures, the present disclosure provides some embodiments of a container skew detection system, corresponding to those illustrated in fig. 8, comprising: a three-dimensional pallet (not shown), a target container 901, and a handling device 902.

In some embodiments, the stereoscopic shelf is used to store the target container 901. A photoresistor strip assembly 903 is provided on the outside of the shelf of the stereoscopic shelf. The photo resistive strip assembly 903 includes a first photo resistive strip and a second photo resistive strip. The outer side of the goods shelf is far away from the roadway. The first photoresistor strip is different from the second photoresistor strip in set position. The photo resistor strip assembly 903 is used to determine if the target container 901 is skewed. Here, a schematic view of the stereoscopic goods shelf may refer to the goods shelf illustrated in fig. 1. The specific construction of the photo resistive strip assembly 903 may be found in the photo resistive strip assemblies illustrated in fig. 4-5.

In some embodiments, the handling apparatus 902 is configured to handle the target container 901. The handling apparatus 902 includes a laser output head assembly. The laser output head assembly comprises a first laser output head and a second laser output head. The first laser output head and the second laser output head are respectively set on two side forks of the transporting device 902. The first laser output head and the second laser output head are set at different positions. Here, the handling device 902 may be a shuttle. The handling apparatus 902 may include a laser output head assembly specifically described with reference to fig. 2-3, and will not be described in detail herein.

In the working state, the carrying device 902 is driven to the storage position of the target container 901, controls the first laser output head to emit laser to the first photoresistor strip, and controls the second laser output head to emit laser to the second photoresistor strip, so as to determine whether the target container 901 is askew. Here, an application scenario in which the handling apparatus 902 controls the laser output head assembly to emit laser light to the photoresistor strip assembly 903 corresponding to the storage location may be specifically described with reference to fig. 6.

In some embodiments, the above container skew detection system further comprises: and the three-dimensional goods shelf terminal is electrically connected with the photoresistor strip component. Here, the above-described stereoscopic shelf terminal may refer to a terminal communicatively connected to the photo resistance bar assembly 903 for monitoring a current change in the photo resistance bar assembly 903. For example, a stereoscopic shelf terminal may refer to a warehouse terminal.

In some embodiments, the stereoscopic shelf terminal determines the number of changes in each of the photo resistive strips of the photo resistive strip assembly 903 where the current of the photo resistive strip changes. The current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly.

In some embodiments, the stereoscopic shelf terminal determines the target container 901 as a skewed container in response to determining that the number of variations is less than the target number. Wherein the target number is the number of photo resistive strips included in the photo resistive strip assembly 903.

It will be appreciated that the apparatus described in the container skew detection system corresponds to the steps in the method described with reference to fig. 8. Thus, the operations, features and benefits described above with respect to the method are equally applicable to the container racking system and the devices contained therein and are not described in detail herein.

With further reference to fig. 10, as an implementation of the method illustrated in the above figures, the present disclosure provides embodiments of a container skew detection apparatus, corresponding to those illustrated in fig. 8, which may find particular application in a variety of electronic devices.

As shown in fig. 10, the container skew detection apparatus 1000 of some embodiments includes: a control unit 1001, a second determination unit 1002, and a second determination unit 1003. Wherein, the control unit 1001 is configured to control the laser output head assembly of the handling device to emit laser to the photoresistor bar assembly corresponding to the storage position in response to determining that the handling device is driving to the storage position of the target container, wherein the photoresistor bar assembly is used for determining whether the target container is askew, the photoresistor bar assembly comprises a first photoresistor bar and a second photoresistor bar, the photoresistor bar assembly is set at the outer side of a shelf corresponding to the storage position, the outer side of the shelf is a side far away from a roadway, and the set positions of the first photoresistor bar and the second photoresistor bar are different in height; a first determining unit 1002 configured to determine a change amount of each of the photo-resistive strips of the photo-resistive strip assembly, wherein the photo-resistive strip current change indicates that the photo-resistive strip receives the laser light emitted from the laser output head assembly; and a second determining unit 1003 configured to determine the target container as a skewed container in response to determining that the number of variations is less than a target number, wherein the target number is a number of photo resistive strips included in the photo resistive strip assembly.

Optionally, the apparatus 1000 further comprises: and the sending unit is configured to send the container position of the skew container to the associated container adjusting terminal so as to enable a worker to adjust the placing angle of the skew container.

Optionally, the apparatus 1000 further comprises: and an equipment control unit configured to control the conveying equipment to convey the target container to a preset delivery position in response to determining that the change amount is equal to the target amount.

Optionally, the first determining unit 1002 is further configured to: for each of the above-described photo-resistive strip assemblies, the following processing steps are performed: determining whether the current reduction of the photoresistor strip is larger than or equal to a preset current reduction; generating a current change signal in response to determining that the current reduction amount of the photo resistive strip is equal to or greater than the preset current reduction amount; the number of the generated respective current change signals is determined as the number of changes of the respective photo-resistive strips.

Optionally, the control unit 1001 is further configured to: controlling the first laser output head to emit laser to the first photoresistor strip; and controlling the second laser output head to emit laser to the second photoresistor strip.

It will be appreciated that the elements described in the bin skew detection device 1000 correspond to the various steps in the method described with reference to fig. 8. Thus, the operations, features, and benefits described above with respect to the method are equally applicable to the container skew detection apparatus 1000 and the units contained therein, and are not described in detail herein.

Referring now to fig. 11, a schematic diagram of an electronic device (e.g., a management server of a warehouse storing containers) 1100 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic devices in some embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), car terminals (e.g., car navigation terminals), and the like, as well as stationary terminals such as digital TVs, desktop computers, and the like. The electronic device shown in fig. 11 is merely an example, and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.

As shown in fig. 11, the electronic device 1100 may include a processing means (e.g., a central processor, a graphics processor, etc.) 1101 that may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 1102 or a program loaded from a storage means 1108 into a Random Access Memory (RAM) 1103. In the RAM 1103, various programs and data necessary for the operation of the electronic device 1100 are also stored. The processing device 1101, ROM1102, and RAM 1103 are connected to each other by a bus 1104. An input/output (I/O) interface 1105 is also connected to bus 1104.

In general, the following devices may be connected to the I/O interface 1105: input devices 1106 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 1107 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 1108, including for example, magnetic tape, hard disk, etc.; and a communication device 1109. The communication means 1109 may allow the electronic device 1100 to communicate wirelessly or by wire with other devices to exchange data. While fig. 11 illustrates an electronic device 1100 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 11 may represent one device or a plurality of devices as needed.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via communications device 1109, or from storage device 1108, or from ROM 1102. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing device 1101.

It should be noted that, the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText Transfer Protocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.

The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: in response to determining that the carrying equipment runs to a storage position of a target container, controlling a laser output head assembly of the carrying equipment to emit laser to a photoresistor strip assembly corresponding to the storage position, wherein the photoresistor strip assembly is used for determining whether the target container is skewed, the photoresistor strip assembly comprises a first photoresistor strip and a second photoresistor strip, the photoresistor strip assembly is arranged on the outer side of a goods shelf corresponding to the storage position, the outer side of the goods shelf is far away from a roadway, and the set positions of the first photoresistor strip and the second photoresistor strip are different in height; determining the change quantity of each photoresistor strip with the current change of the photoresistor strip in the photoresistor strip assembly, wherein the current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly; and in response to determining that the number of variations is less than a target number, determining the target container as a skewed container, wherein the target number is a number of photoresistor bars included in the photoresistor bar assembly.

Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. 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 some 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.

The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a control unit, a second determination unit, and a second determination unit. The names of these units are not limited to the unit itself in some cases, and for example, the control unit may also be described as "a unit that controls the laser output head assembly of the conveying apparatus to emit laser light to the photo-resistance bar assembly corresponding to the storage position" in response to determining that the conveying apparatus is traveling to the storage position of the target cargo box.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.

Some embodiments of the present disclosure also provide a computer program product comprising a computer program which, when executed by a processor, implements any of the above-described methods of container skew detection.

The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A method of detecting a skew of a container, comprising:

In response to determining that the carrying equipment runs to a storage position of a target container, controlling a laser output head assembly of the carrying equipment to emit laser to a photoresistor strip assembly corresponding to the storage position, wherein the photoresistor strip assembly is used for determining whether the target container is askew or not, the photoresistor strip assembly comprises a first photoresistor strip and a second photoresistor strip, the photoresistor strip assembly is set on the outer side of a goods shelf corresponding to the storage position, the outer side of the goods shelf is a side far away from a roadway, and the set positions of the first photoresistor strip and the second photoresistor strip are different in height;

Determining the change quantity of each photoresistor strip with the current change of the photoresistor strip in the photoresistor strip assembly, wherein the current change of the photoresistor strip represents that the photoresistor strip receives laser emitted by the laser output head assembly;

In response to determining that the number of variations is less than a target number, the target number is determined to be a skewed container, wherein the target number is a number of photo resistive strips included in the photo resistive strip assembly.

2. The method of claim 1, wherein the method further comprises:

And sending the container position of the skewed container to an associated container adjustment terminal so as to enable a worker to adjust the placing angle of the skewed container.

3. The method of claim 1, wherein the method further comprises:

And in response to determining that the number of changes is equal to the target number, controlling the conveying equipment to convey the target container to a preset delivery position.

4. The method of claim 1, wherein the determining the number of changes in each of the photo resistive strips of the photo resistive strip assembly for which the photo resistive strip current changes comprises:

for each of the light-sensitive resistive strips in the light-sensitive resistive strip assembly, performing the following processing steps:

determining whether the current reduction of the photoresistor strip is greater than or equal to a preset current reduction;

Generating a current change signal in response to determining that the current reduction of the photoresistor strip is greater than or equal to the preset current reduction;

The number of the generated respective current change signals is determined as the number of changes of the respective photo-resistive strips.

5. The method of claim 1, wherein the laser output head assembly comprises a first laser output head and a second laser output head, the first laser output head and the second laser output head being respectively positioned on two side forks of the handling device, the first laser output head and the second laser output head being positioned at different heights; and

The laser output head assembly of the handling equipment is controlled to emit laser to the photoresistor strip assembly corresponding to the storage position, and the laser output head assembly comprises:

Controlling the first laser output head to emit laser to the first photoresistor strip;

and controlling the second laser output head to emit laser to the second photoresistor strip.

6. A container skew detection system, the container skew detection system comprising: a three-dimensional goods shelf, a target container and carrying equipment, wherein,

The three-dimensional goods shelf is used for storing the target container, a photoresistor strip assembly is arranged on the outer side of the goods shelf of the three-dimensional goods shelf, the photoresistor strip assembly comprises a first photoresistor strip and a second photoresistor strip, the outer side of the goods shelf is a side far away from a roadway, and the set positions of the first photoresistor strip and the set position of the second photoresistor strip are different in height;

The handling equipment is used for handling the target container and comprises a laser output head assembly, wherein the laser output head assembly comprises a first laser output head and a second laser output head, the first laser output head and the second laser output head are respectively arranged on two side forks of the handling equipment, and the positions of the first laser output head and the second laser output head are different in height;

Under the operating condition, the carrying equipment runs to the storage position of the target container, controls the first laser output head to emit laser to the first photoresistor strip, and controls the second laser output head to emit laser to the second photoresistor strip, so as to determine whether the target container is skewed.

7. The container skew detection system of claim 6, wherein the container skew detection system further comprises: the three-dimensional goods shelf terminal is electrically connected with the photoresistor strip component;

The three-dimensional shelf terminal determines the change quantity of each photoresistor strip with the current change of the photoresistor strip in the photoresistor strip assembly, wherein the current change of the photoresistor strip indicates that the photoresistor strip receives laser emitted by the laser output head assembly;

The stereoscopic shelf terminal determines the target container as a skewed container in response to determining that the number of variations is less than a target number, wherein the target number is a number of photo resistive strips included by the photo resistive strip assembly.

8. A container skew detection apparatus comprising:

The control unit is configured to control the laser output head assembly of the conveying equipment to emit laser to the photoresistor strip assembly corresponding to the storage position in response to determining that the conveying equipment is driven to the storage position of the target container, wherein the photoresistor strip assembly is used for determining whether the target container is askew or not, the photoresistor strip assembly comprises a first photoresistor strip and a second photoresistor strip, the photoresistor strip assembly is set on the outer side of a goods shelf corresponding to the storage position, the outer side of the goods shelf is a side far away from a roadway, and the set positions of the first photoresistor strip and the second photoresistor strip are different in height;

a first determination unit configured to determine a change amount of each of the photo-resistive strips of the photo-resistive strip assembly, in which the photo-resistive strip current changes, wherein the photo-resistive strip current changes represent that the photo-resistive strip receives laser light emitted by the laser output head assembly;

and a second determining unit configured to determine the target container as a skewed container in response to determining that the number of variations is less than a target number, wherein the target number is a number of photo resistive strips included in the photo resistive strip assembly.

9. An electronic device, comprising:

one or more processors;

a storage device having one or more programs stored thereon;

when executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-5.

10. A computer readable medium having stored thereon a computer program, wherein the program when executed by a processor implements the method of any of claims 1-5.

11. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any of claims 1-5.