CN107065861A - Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus - Google Patents
Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus Download PDFInfo
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- CN107065861A CN107065861A CN201710104293.1A CN201710104293A CN107065861A CN 107065861 A CN107065861 A CN 107065861A CN 201710104293 A CN201710104293 A CN 201710104293A CN 107065861 A CN107065861 A CN 107065861A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
Carried the embodiment of the invention discloses a kind of robot collection intelligence, be loaded and unloaded on integral method and apparatus.Wherein, this method comprises the following steps：Build and be stored in the running orbit map in new environment；According to the map use vision guided navigation to objective；Receive and load instruction, the handling task in objective is realized by trick identifying system.Robot can independently build the map in new environment in this programme, and according to painted digital map navigation to the target point for carrying product, the handling of product are completed finally by identifying system.Whole process is all completed by robot autonomous, not only increases the more intellectuality that operating efficiency also becomes robot.
Description
Technical field
The present embodiments relate to robot control field, especially a kind of robot collection intelligence is carried, is loaded and unloaded on one
Method and apparatus.
Background technology
At present, in global manufacturing industry, industrial robot occupies a very big part in production.With
Logistics, Flexible assembling line, the development of processing line, automatic transporting machine Man's Demands are more and more vigorous, the requirement automated to it
Also more and more higher, in order to allow the robot to the competent work become increasingly complex, will not only there be more preferable control system in robot,
Also need to add more perception to environmental change and adaptability.Traditional transfer roller and conveyer belt have fixed biography
Defeated route, if it is desired to realize that the Product transport in large area and handling then need substantial amounts of cost input, and traditional robot
It is also very weak to the perception of environment, it is impossible to independently to complete complex route transport.
The content of the invention
The purpose of the present invention is intended at least solve one of above-mentioned technological deficiency, and particularly robot movable scope has
The technological deficiency of limit, perception and autonomous poor performance, and a kind of robot collection intelligence is provided and carries, be loaded and unloaded on integral method
And device,
Based on above-mentioned purpose, the present invention is adopted the following technical scheme that：
The embodiment of the present invention provides a kind of robot collection intelligence and carries, is loaded and unloaded on integral method, comprises the following steps：
Build and be stored in the running orbit map in new environment；
According to the map use vision guided navigation to objective；
Receive and load instruction, the handling task in objective is realized by trick identifying system.
In one of the embodiments, the running orbit map for building and being stored in new environment includes：
Moved in new environment since original position, estimated and carried out with sensing data according to position in moving process
Self poisoning, while building increment type map.
In one of the embodiments, it is described to be included according to the map use vision guided navigation to objective：
Robot can effectively avoid the barrier in way using visual identifying system.
In one of the embodiments, the robot can realize many floors, Quan Chang by Internet of Things connecting communication equipment
The movement in area.
In one of the embodiments, it is described to realize that the handling task in objective includes by trick identifying system：
Product and shelf to target location carry out fixation and recognition,
Transmit controller of the identification information into mechanical arm；
The instruction of controller output operation handling.
The embodiment of the present invention also provides a kind of robot collection intelligence and carries, is loaded and unloaded on integral device, including：
Module is built, for building and being stored in the running orbit map in new environment；
Navigation module, for according to the map use vision guided navigation to objective；
Loading module, instruction is loaded for receiving, and the handling task in objective is realized by trick identifying system.
In one of the embodiments, the structure module includes：Move, moving since original position in new environment
Estimated during dynamic according to position and carry out self poisoning with sensing data, while building increment type map.
In one of the embodiments, the navigation module includes：Robot effectively avoids way using visual identifying system
In barrier.
In one of the embodiments, the robot can realize many floors, Quan Chang by Internet of Things connecting communication equipment
The movement in area.
In one of the embodiments, the loading module includes：
Identification module, fixation and recognition is carried out for the product to target location and shelf,
Delivery module, for transmitting controller of the identification information into mechanical arm；
Output module, the instruction of operation handling is exported for controller.Technical scheme provided in an embodiment of the present invention is brought
Beneficial effect：
Robot can independently build the map in new environment in this programme, and according to painted digital map navigation to carrying product
Target point, finally by identifying system complete product handling.The running track of robot is without special processing, institute in map
The place being related to can turn into the traffic coverage of robot, and robot can also pass through visual recognition line in transportation
System avoiding barrier, the whole process carried and loaded and unloaded all is completed by robot autonomous, and user only needs to input enabled instruction just
Robot can be made to start working, not only increase the more intellectuality that operating efficiency also becomes robot.
The additional aspect of the present invention and advantage will be set forth in part in the description, and these will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to present invention implementation
The content and these accompanying drawings of example obtain other accompanying drawings.
Fig. 1 is that robot provided in an embodiment of the present invention collection intelligence is carried, is loaded and unloaded on integral method flow diagram.
Fig. 2 is that robot provided in an embodiment of the present invention collects the structural representation that integral device was carried, be loaded and unloaded on to intelligence.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
It is that robot collection intelligence provided in an embodiment of the present invention carries, is loaded and unloaded on integral method first in fact as shown in Figure 1
The method flow diagram of example is applied, is comprised the following steps：
S101:Build and be stored in the running orbit map in new environment.
Robot is moved since original position in new environment, is estimated and sensor number according to position in moving process
According to self poisoning is carried out, while building increment type map.Robot self-localization is closely related with environmental modeling problem.Environment
The accuracy of model depends on positioning precision, and the realization positioned be unable to do without environmental model.In circumstances not known, robot does not have
There is any object of reference, not very accurate sensor can only be paddled one's own canoe to obtain external information, such as same blind person is one
Situation about groping in individual foreign environment.In this case, positioning is relatively difficult.Such issues that solution, can rely on internal sensor
While device estimates displacement, environment is perceived using external sensor (such as laser range finder, vision), to the information of acquisition
Carry out analysis extraction environment feature and preserve, self-position is corrected by the comparison to environmental characteristic in next step.
S102：According to the map use vision guided navigation to objective.
The map that robot is built according to above-mentioned steps just can be with independent navigation to objective, and utilizes visual recognition line
System effectively avoids the barrier in way, and the visual identifying system is arranged on robot body, and it includes optical launcher and figure
As sensor, the optical launcher is linear optics transmitter, and described image sensor is received and sent out by the optical launcher
The reflected signal of the object on the self-movement robot periphery is incident upon, transmitting light and the described image of the optical launcher are passed
Angle [alpha] of the center line formation more than 0 ° of sensor, the optical launcher is launched to the object on the self-movement robot periphery
Angle of linear light and the horizontal plane formation more than 0 °.Robot can also connect default communication by the Internet of Things in environment
Equipment realizes many floors, the movement of full plant area.
S103：Receive and load instruction, the handling task in objective is realized by trick identifying system.
When robot is moved to objective, fixation and recognition will be carried out to the product and shelf of target location, received
After the handling instruction that user sends, controller of the identification information into mechanical arm is just transmitted, controller is then according to trick system
The position and data message that system is obtained independently carry out trajectory planning, then the instruction of controller output operation handling.Mechanical arm is just
Start to be worked according to the good track of contexture by self, the product of transport is loaded into default rack or carrying is unloaded from rack
Defeated product is to target location.After completing this time to operate, robot waits next step transport instruction, can be set and repeats this time to transport
New path is planned in path again, until all transport is finished goods.
Robot can independently build the map in new environment in this programme, and according to painted digital map navigation to carrying product
Target point, finally by identifying system complete product handling.The running track of robot is without special processing, institute in map
The place being related to can turn into the traffic coverage of robot, and robot can also pass through visual recognition line in transportation
System avoiding barrier, the whole process carried and loaded and unloaded all is completed by robot autonomous, and user only needs to input enabled instruction just
Robot can be made to start working, not only increase the more intellectuality that operating efficiency also becomes robot.
Fig. 2 carries, is loaded and unloaded on the structural representation of integral device for the robot collection intelligence of one embodiment.
Carried based on above-mentioned robot collection intelligence, be loaded and unloaded on integral method, the present invention also provides a kind of robot collection
Intelligence is carried, is loaded and unloaded on integral device, and it includes：Build module 201, navigation module 202 and loading module 203.
Module 201 is built, for building and being stored in the running orbit map in new environment；Navigation module 202, for root
According to the map use vision guided navigation to objective；Loading module 203, instruction is loaded for receiving, and system is recognized by trick
System realizes the handling task in objective.
Module 201 is built, builds and is stored in the running orbit map in new environment.
Robot is moved since original position in new environment, module 201 is built in moving process pre- according to position
Estimate and carry out self poisoning with sensing data, while building increment type map.Build module 201 self-positioning with environmental modeling problem
It is closely related.The accuracy of environmental model depends on positioning precision, and the realization positioned be unable to do without environmental model.Not
Know in environment, build module 201 without what object of reference, not very accurate sensor can only be paddled one's own canoe to obtain the external world
Information, the situation that such as same blind person gropes in a foreign environment.In this case, positioning is relatively difficult.Solve
Such issues that can by internal sensor estimate displacement while, use external sensor (such as laser range finder, vision
Deng) environment is perceived, the information to acquisition carries out analysis extraction environment feature and preserved, and the ratio to environmental characteristic is passed through in next step
Relatively self-position is corrected.
Navigation module 202, according to the map use vision guided navigation to objective.
The map that navigation module 202 is built according to above-mentioned steps just can be with independent navigation to objective, and utilizes vision
Identifying system effectively avoids the barrier in way, and the visual identifying system is arranged on robot body, and it includes optical emitting
Device and imaging sensor, the optical launcher are linear optics transmitter, and described image sensor is received and sent out by the optics
Emitter launches the reflected signal of the object to the self-movement robot periphery, the transmitting light of the optical launcher with it is described
Angle [alpha] of the center line formation more than 0 ° of imaging sensor, the optical launcher is launched to the self-movement robot periphery
Object angle of linear light and the horizontal plane formation more than 0 °.Navigation module 202 can also be connected by the Internet of Things in environment
Connect default communication apparatus and realize many floors, the movement of full plant area.
Loading module 203, is received and loads instruction, and the handling task in objective is realized by trick identifying system.
When robot is moved to objective, loading module 203 will be positioned to the product and shelf of target location
Identification, loading module 203 is received after the handling instruction that user sends, and just transmits control of the identification information into mechanical arm
Device, the position and data message that controller is then obtained according to hand-eye system independently carries out trajectory planning, then controller output fortune
The instruction that luggage is unloaded.Mechanical arm begins to, according to the good track work of contexture by self, the product of transport is loaded into default put
Rack unloads transport product to target location from rack.After completing this time to operate, robot waits next step transport
Instruction, it is settable to repeat this transportation route or plan new path again, until all transport is finished goods.
Robot can independently build the map in new environment in this programme, and according to painted digital map navigation to carrying product
Target point, finally by identifying system complete product handling.The running track of robot is without special processing, institute in map
The place being related to can turn into the traffic coverage of robot, and robot can also pass through visual recognition line in transportation
System avoiding barrier, the whole process carried and loaded and unloaded all is completed by robot autonomous, and user only needs to input enabled instruction just
Robot can be made to start working, not only increase the more intellectuality that operating efficiency also becomes robot.
Those skilled in the art of the present technique are appreciated that the present invention includes being related to for performing in heretofore described operation
One or more of equipment.These equipment can be for needed for purpose and specially design and manufacture, or can also include general
Known device in computer.These equipment have the computer program being stored in it, and these computer programs are optionally
Activation is reconstructed.Such computer program can be stored in equipment (for example, computer) computer-readable recording medium or be stored in
E-command and it is coupled to respectively in any kind of medium of bus suitable for storage, the computer-readable medium is included but not
Be limited to any kind of disk (including floppy disk, hard disk, CD, CD-ROM and magneto-optic disk), ROM (Read-Only Memory, only
Read memory), RAM (Random Access Memory, immediately memory), EPROM (Erasable Programmable
Read-Only Memory, Erarable Programmable Read only Memory), EEPROM (Electrically Erasable
Programmable Read-Only Memory, EEPROM), flash memory, magnetic card or light card
Piece.It is, computer-readable recording medium includes storing or transmitting any Jie of information in the form of it can read by equipment (for example, computer)
Matter.
Described above is only some embodiments of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of robot collection intelligence is carried, is loaded and unloaded on integral method, it is characterised in that including：
Build and be stored in the running orbit map in new environment；
According to the map use vision guided navigation to objective；
Receive and load instruction, the handling task in objective is realized by trick identifying system.
2. a kind of robot collection intelligence according to claim 1 is carried, is loaded and unloaded on integral method, it is characterised in that institute
Stating the running orbit map for building and being stored in new environment includes：
Moved in new environment since original position, estimated in moving process according to position and carry out itself with sensing data
Positioning, while building increment type map.
3. a kind of robot collection intelligence according to claim 1 is carried, is loaded and unloaded on integral method, it is characterised in that institute
State includes according to the map use vision guided navigation to objective：
Robot can effectively avoid the barrier in way using visual identifying system.
4. a kind of robot collection intelligence according to claim 1 is carried, is loaded and unloaded on integral method, it is characterised in that institute
Many floors, the movement of full plant area can be realized by Internet of Things connecting communication equipment by stating robot.
5. a kind of robot collection intelligence according to claim 1 is carried, is loaded and unloaded on integral method, it is characterised in that institute
State and realize that the handling task in objective includes by trick identifying system：
Product and shelf to target location carry out fixation and recognition,
Transmit controller of the identification information into mechanical arm；
The instruction of controller output operation handling.
6. a kind of robot collection intelligence is carried, is loaded and unloaded on integral device, it is characterised in that including：
Module is built, for building and being stored in the running orbit map in new environment；
Navigation module, for according to the map use vision guided navigation to objective；
Loading module, instruction is loaded for receiving, and the handling task in objective is realized by trick identifying system.
7. a kind of robot collection intelligence according to claim 6 is carried, is loaded and unloaded on integral device, it is characterised in that institute
Stating structure module includes：
Moved in new environment since original position, estimated in moving process according to position and carry out itself with sensing data
Positioning, while building increment type map.
8. a kind of robot collection intelligence according to claim 6 is carried, is loaded and unloaded on integral device, it is characterised in that institute
Stating navigation module includes：
Robot effectively avoids the barrier in way using visual identifying system.
9. a kind of robot collection intelligence according to claim 6 is carried, is loaded and unloaded on integral device, it is characterised in that institute
Many floors, the movement of full plant area can be realized by Internet of Things connecting communication equipment by stating robot.
10. a kind of robot collection intelligence according to claim 6 is carried, is loaded and unloaded on integral device, it is characterised in that institute
Stating loading module includes：
Identification module, fixation and recognition is carried out for the product to target location and shelf,
Delivery module, for transmitting controller of the identification information into mechanical arm；
Output module, the instruction of operation handling is exported for controller.
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| CN201710104293.1A CN107065861A (en) | 2017-02-24 | 2017-02-24 | Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus |
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| CN201710104293.1A CN107065861A (en) | 2017-02-24 | 2017-02-24 | Robot collection intelligence is carried, is loaded and unloaded on integral method and apparatus |
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| CN107745960A (en) * | 2017-09-11 | 2018-03-02 | 大族激光科技产业集团股份有限公司 | Material transfer equipment and material conveying method |
| CN108313715A (en) * | 2018-01-31 | 2018-07-24 | 上海理工大学 | Making type civilian soft bag grasp handling robot |
| CN108401423A (en) * | 2017-09-05 | 2018-08-14 | 深圳蓝胖子机器人有限公司 | Method, system, robot and the storage device of automatic conveying package |
| CN108931253A (en) * | 2018-07-24 | 2018-12-04 | 福勤智能科技（昆山）有限公司 | Air navigation aid, device, intelligently guiding vehicle and the medium of intelligently guiding vehicle |
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