CN112396286A - Automatic pick-and-place method and system for mobile robot - Google Patents
Automatic pick-and-place method and system for mobile robot Download PDFInfo
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- G—PHYSICS
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
- G06Q10/063—Operations research, analysis or management
- G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0833—Tracking
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- G—PHYSICS
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- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
- G06Q10/083—Shipping
- G06Q10/0836—Recipient pick-ups
Abstract
The invention discloses an automatic pick-and-place method and an automatic pick-and-place system for a mobile robot, wherein the method comprises the following steps: receiving a goods taking and transporting bill pushed by a container server; creating a distribution waybill and distributing target robots to the distribution waybill; pushing the state of the delivery waybill and the state of the target robot to the container server until the target robot moves to the goods taking point; interacting with the container server until the target robot completes pile entering, connection and pile exiting; and continuing to push the state of the delivery waybill to the container server until the target robot moves to the target delivery point. According to the invention, through the waybill pushing and the information pushing of the scheduling server and the container server, the robot can automatically receive and dispatch the goods placed at the intelligent container, and particularly, the robot can be used for carrying and dispatching some heavier ordered goods, so that efficient, convenient and automatic intelligent service is provided for a user, and the experience feeling of the user is improved.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robots, in particular to an automatic pick-and-place method and an automatic pick-and-place system for a mobile robot.
[ background of the invention ]
With the maturity of unmanned technology and the proposition of concepts such as thing networking, wisdom city, intelligent delivery robot gets into people's the field of vision gradually. The distribution robot can replace manual work in many application scenes, for example, in public places such as office buildings, high-grade districts and campuses, ordinary logistics personnel cannot enter the areas to complete distribution, and the distribution robot can replace the logistics personnel, so that the work and life of people are continuously intelligentized and automated. Along with the gradual development and maturity of the automatic container technology, the application of the automatic container is wider and wider, and the automatic container is more and more distributed and can be seen everywhere in subway stations, shopping malls and office buildings. Automatic containers on the market are used for personal operation, people select articles on site, pay, and the corresponding articles are taken out of a shelf and are transmitted to a goods taking port (also called a goods outlet) through a transmission assembly. In the application environments, an intelligent container and a goods taking and delivering robot matched with the intelligent container are not provided, and efficient and convenient automatic goods taking and delivering service can be provided for a user.
[ summary of the invention ]
The invention provides an automatic workpiece taking and delivering method and system of a mobile robot, which solve the technical problems.
The technical scheme for solving the technical problems is as follows: an automatic pick-up and delivery method of a mobile robot is applied to a scheduling server and comprises the following steps:
step 1, receiving a goods taking and shipping bill pushed by a container server, wherein the information of the goods taking and shipping bill comprises a goods taking list number, a goods taking point location and a target distribution point location;
step 2, creating a delivery waybill according to the information of the pickup waybill, distributing a target robot to the delivery waybill, and pushing a distribution result to the container server, wherein the distribution result comprises a delivery waybill number, a delivery waybill state, a target robot ID and a bin position label;
step 4, interacting with the container server until the target robot enters the pile, is connected and exits the pile;
and 5, continuously acquiring the states of the delivery waybill and the target robot, and pushing the states of the delivery waybill and the target robot to a container server in an event mode until the target robot moves to the target delivery point.
In a preferred embodiment, the creating a delivery waybill according to the information of the pickup waybill, and allocating a target robot to the delivery waybill, specifically:
s201, creating a delivery freight note according to the information of the pickup freight note, and pushing the delivery freight note to a container server;
s202, immediately distributing a target robot for the distribution waybill, and locking at least one bin of the target robot;
s203, pushing the distribution result to a container server;
s204, when no target robot receives the delivery waybill within the preset time, the delivery waybill is cancelled, and a cancellation result is generated and sent to the container server.
In a preferred embodiment, the interacting with the container server until the target robot piling is completed includes the following steps:
s401, after the target robot moves to the goods taking point position, continuously pushing the target robot to the container server in a state that the target robot reaches the container point;
s402, receiving the opened state of a cabinet door continuously pushed by the container server, and sending a pile driving instruction to the target robot;
s403, acquiring the real-time state of the target robot, and continuously pushing the state of the target robot to the container server to be in pile driving;
s404, receiving pile driving in-place signals continuously pushed by the container server, and sending a pile driving finishing instruction to the target robot;
s405, acquiring the real-time state of the target robot, and pushing the state of the target robot to the container server to be that pile driving is completed.
In a preferred embodiment, the interacting with the container server until the target robot completes the docking specifically includes the following steps:
s406, receiving a stocking state continuously pushed by the container server until the stocking state is switched from stocking to stocking completion;
s407, sending a weighing instruction to a target robot, acquiring a weighing result of the target robot, and if the weighing result changes, pushing the delivery waybill to the container server in a successful delivery state;
and the container server adopts a corresponding funnel to put goods according to the bin position label, detects whether goods exist on the funnel after the funnel action is finished, and pushes a goods putting completion state to the scheduling server if no goods exist.
In a preferred embodiment, the interacting with the container server is performed until the target robot completes the piling, specifically:
s408, when all the delivery waybills corresponding to the goods taking points are judged to be put completely, sending a pile sending instruction to the target robot, and pushing the target robot to the container server to be in a pile sending state;
s409, after the target robot is moved out of the container, pushing the target robot to the container server in a state that pile discharging is completed.
In a preferred embodiment, the method further comprises an waybill exception ending step, wherein the waybill exception ending step specifically comprises the following steps:
acquiring the pile driving time length of a target robot and/or the opening time length of a cabinet door, sending a pile driving instruction to the target robot when the pile driving time length or the opening time length is larger than a first preset threshold value, canceling the delivery waybill after the pile driving of the target robot is finished, generating a canceling result and sending the canceling result to the container server;
the method comprises the steps that the stocking waiting time and/or stocking retry times of a target robot are/is obtained, when the stocking waiting time is larger than a second preset threshold value or the stocking retry times are larger than preset times, a piling instruction is sent to the target robot, the delivery waybills are cancelled after the stocking of the target robot is completed, and a cancellation result is generated and sent to a container server;
the cancellation result comprises a delivery order number, a delivery waybill state and a cancellation reason.
A second aspect of the embodiment provides an automatic pickup and delivery system of a mobile robot, comprising a scheduling server, a container server and a target robot, wherein the scheduling server comprises a waybill receiving module, a waybill distributing module, a first interaction module, a second interaction module and a third interaction module,
the freight note receiving module is used for receiving a goods taking freight note pushed by the container server, and the information of the goods taking freight note comprises a goods taking note number, a goods taking point position and a target distribution point position;
the waybill distribution module is used for creating a distribution waybill according to the information of the goods taking waybill, distributing a target robot to the distribution waybill and pushing a distribution result to the container server, wherein the distribution result comprises a distribution waybill number, a distribution waybill state, a target robot ID and a bin position label;
the first interaction module is used for continuously acquiring the states of the delivery waybills and the target robot and pushing the states of the delivery waybills and the target robot to the container server in an event mode until the target robot moves to the goods taking position;
the second interaction module is used for interacting with the container server until the target robot completes pile entering, connection and pile exiting;
the third interaction module is used for continuously acquiring the states of the delivery waybill and the target robot, and pushing the states of the delivery waybill and the target robot to the container server in an event mode until the target robot moves to the target delivery point.
In a preferred embodiment, the second interaction module comprises a stake feeding interaction unit, and the stake feeding interaction unit is used for continuously pushing the target robot to the container server when the target robot moves to the goods taking point position, wherein the state of the target robot is that the container point is reached; the device is used for receiving the opened state of the cabinet door continuously pushed by the container server and sending a pile driving instruction to the target robot; the real-time state of the target robot is obtained, and the state of the target robot is continuously pushed to the container server to be in pile driving; the pile driving in-place signal is used for receiving pile driving in-place signals continuously pushed by the container server and sending a pile driving finishing instruction to the target robot; and the real-time state acquisition unit is used for acquiring the real-time state of the target robot and pushing the state of the target robot to the container server to be completed after pile driving.
In a preferred embodiment, the container server is configured to put goods by using a corresponding funnel according to the bin position label, detect whether goods exist on the funnel after the funnel action is completed, and push a goods putting completion state to the scheduling server if no goods exist;
the second interaction module comprises a connection interaction unit, and the connection interaction unit is used for receiving a stocking state continuously pushed by the container server until the stocking state is switched from stocking to stocking completion; and the weighing instruction is used for sending a weighing instruction to the target robot, the weighing result of the target robot is obtained, and if the weighing result changes, the delivery waybill is pushed to the container server in a successful delivery state.
In a preferred embodiment, the second interaction module includes a pile output interaction unit, and the pile output interaction unit is configured to send a pile output instruction to the target robot and push the state of the target robot to the container server as in pile output when it is determined that all delivery waybills corresponding to the pickup point location are put completely; and after the target robot is moved out of the container, pushing the target robot to the container server in a state of pile discharging is completed.
In a preferred embodiment, the waybill allocation module specifically includes:
the creating unit is used for creating a delivery freight note according to the information of the goods taking freight note and pushing the delivery freight note to the container server;
the distribution unit is used for immediately distributing the target robot to the distribution waybill and locking at least one bin of the target robot;
the distribution result pushing unit is used for pushing the distribution result to the container server;
and the canceling unit is used for canceling the delivery waybill and generating a canceling result to be sent to the container server when no target robot receives the delivery waybill within the preset time length.
In a preferred embodiment, the dispatch server further comprises a waybill abnormal ending module, the waybill abnormal ending module comprises a first ending unit and a second ending unit,
the first end unit is used for acquiring the pile driving time of the target robot and/or the opening time of the cabinet door, sending a pile driving instruction to the target robot when the pile driving time or the opening time is larger than a first preset threshold value, canceling the delivery waybill after the pile driving of the target robot is finished, generating a canceling result and sending the canceling result to the container server;
the second finishing unit is used for acquiring the stocking waiting time and/or stocking retry times of the target robot, sending a piling instruction to the target robot when the stocking waiting time is greater than a second preset threshold or the stocking retry times are greater than preset times, canceling the delivery waybill after the target robot piles out, generating a canceling result and sending the canceling result to the container server;
the cancellation result comprises a delivery order number, a delivery waybill state and a cancellation reason.
The invention provides an automatic pickup and delivery method and system of a mobile robot, which are used for realizing automatic receiving and dispatching of goods placed at an intelligent container by the robot through waybill pushing and information pushing of a scheduling server and a container server, and particularly can be used for carrying and delivering some heavier ordered goods by the robot, thereby providing efficient, convenient and automatic intelligent service for a user and improving the experience and feeling of the user.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, 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, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of an automatic pickup method of a mobile robot according to embodiment 1;
FIG. 2 is an interaction diagram of a container server and a scheduling server when the target robot performs the piling in embodiment 1;
FIG. 3 is an interaction diagram of a container server and a dispatching server when the target robot in embodiment 1 is docked;
FIG. 4 is an interaction diagram of a container server and a dispatching server when the target robot is out of the pile in embodiment 1;
fig. 5 is a schematic structural view of an automatic pickup system of a mobile robot according to embodiment 2.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flowchart of an automatic pickup and delivery method for a mobile robot according to embodiment 1 of the present invention, which is applied to a scheduling server of the mobile robot, and as shown in fig. 1, includes the following steps:
step 1, receiving a delivery order pushed by a container server, wherein the information of the delivery order comprises a delivery order number, a delivery point location and a target delivery point location. The delivery bill is created on the container server through app, an applet or a container panel by a user and then pushed to the scheduling server by the container server.
And 2, creating a distribution waybill according to the information of the goods taking waybill, distributing a target robot for the distribution waybill, and pushing a distribution result to the container server. The method specifically comprises the following steps:
s201, creating a delivery waybill according to the information of the delivery waybill, and pushing the delivery waybill to a container server, wherein the information of the delivery waybill comprises a delivery waybill number and a created state of the delivery waybill.
S202, immediately distributing the target robot for the distribution waybill and locking at least one bin of the target robot. The preferred embodiment creates the delivery manifest and then does not push the manifest but immediately distributes it, thereby increasing the efficiency of picking and delivering the parts. Also, the assignment is asynchronous to the build order because there are not necessarily robots available at any time.
S203, pushing an allocation result to the container server, wherein the allocation result comprises a delivery order number, a delivery order state, a target robot ID and a bin position label, and the delivery order state is allocated at the moment.
S204, when no target robot receives the delivery waybill within the preset time, the delivery waybill is cancelled, and a cancellation result is generated and sent to the container server.
And then executing step 3, continuously acquiring the states of the delivery waybills and the target robot, and pushing the states of the delivery waybills and the target robot to a container server in an event form until the target robot moves to the goods taking point to prepare for the next step of robot piling.
And 4, interacting with the container server until the target robot enters the pile, is connected and exits the pile.
Fig. 2 is an interaction diagram of a container server and a dispatching server when a target robot performs pile driving, and as shown in fig. 2, the method specifically includes the following steps:
s401, after the target robot moves to the goods taking point position, the dispatching server continuously pushes the target robot to the container server in a state that the target robot reaches the container point;
s402, the dispatching server receives the opened state of the cabinet door continuously pushed by the container server and sends a pile driving instruction to the target robot;
s403, the scheduling server acquires the real-time state of the target robot and continuously pushes the state of the target robot to the container server to be in pile driving;
s404, the scheduling server receives pile driving in-place signals continuously pushed by the container server and sends a pile driving finishing instruction to the target robot;
s405, the scheduling server acquires the real-time state of the target robot and pushes the state of the target robot to the container server to be completed after pile driving.
In the pile driving process, the cabinet door of the container is kept in an open state, and meanwhile the scheduling server and the container server continuously exchange state information until the pile driving of the robot is successful, so that the pile driving is successful, not only is the robot detects that pile driving movement is successful, but also the container needs to be detected in place, and the pile driving is successful when the two conditions are met simultaneously.
Fig. 3 is an interaction diagram of a container server and a dispatching server when a target robot is docked, as shown in fig. 3, specifically including the following steps:
s406, the container server adopts the corresponding hopper to put goods according to the bin position label, detects whether goods exist on the hopper after the hopper action is finished, and pushes a goods putting completion state to the scheduling server if no goods exist. And the dispatching server receives the goods placing state continuously pushed by the container server until the goods placing state is switched from goods placing to goods placing completion.
S407, the dispatching server sends a weighing instruction to the target robot, obtains a weighing result of the target robot, and if the weighing result changes, the dispatching server pushes the delivery waybill to the container server, wherein the delivery waybill is in a successful delivery state. In the successful goods placing state, the requirements of the completion of the funnel action, the goods absence in the funnel detection and the change of the robot weighing are met at the same time.
Fig. 4 is an interaction diagram of a container server and a dispatching server when a target robot is out of a pile, as shown in fig. 4, specifically including the following steps:
s408, when all the delivery waybills corresponding to the goods taking points are judged to be put completely, the dispatching server sends a pile sending instruction to the target robot and pushes the target robot to the container server to be in a pile sending state;
s409, after the target robot is moved out of the container, the dispatching server pushes the target robot to the container server in a pile-out state. When the container server can not receive the state of the target robot for N seconds, the door can be automatically closed.
As shown in fig. 2 to fig. 3, the automatic pickup and delivery method of the preferred embodiment further includes an waybill exception ending step, where the waybill exception ending step specifically includes:
s501, acquiring pile driving time and/or opening time of a cabinet door of a target robot, sending a pile driving instruction to the target robot when the pile driving time or the opening time is larger than a first preset threshold value, canceling a delivery waybill after pile driving of the target robot is completed, generating a cancellation result and sending the cancellation result to the container server;
s502, obtaining the waiting stocking time and/or stocking retry times of the target robot, sending a piling instruction to the target robot when the stocking waiting time is greater than a second preset threshold or the stocking retry times is greater than the preset times, canceling the delivery waybill after the target robot piles out, generating a canceling result and sending the canceling result to the container server;
the cancellation result comprises a delivery order number, a delivery waybill state and a cancellation reason.
And finally, executing the step 5, continuously acquiring the states of the delivery waybills and the target robot by the scheduling server, and pushing the states of the delivery waybills and the target robot to the container server in an event mode until the target robot moves to the target delivery point.
The automatic picking and delivering method of the mobile robot is characterized in that the dispatching server and the container server are used for pushing the freight notes and the information, so that the robot can automatically receive and dispatch goods placed in an intelligent container, particularly, the robot can be used for carrying and delivering some heavy ordered goods, efficient, convenient and automatic intelligent services are provided for users, and the experience and the feeling of the users are improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
FIG. 5 is a schematic structural diagram of an automatic pickup system of a mobile robot provided in embodiment 2, which includes a scheduling server 100, a container server 200, and a target robot 300, wherein the scheduling server 100 includes an waybill receiving module 101, an waybill distributing module 102, a first interacting module 103, a second interacting module 104, and a third interacting module 105,
the waybill receiving module 101 is configured to receive a pickup waybill pushed by a container server, where information of the pickup waybill includes a pickup waybill number, a pickup point location, and a target distribution point location;
the waybill distribution module 102 is configured to create a distribution waybill according to the information of the pickup waybill, distribute a target robot to the distribution waybill, and push a distribution result to the container server, where the distribution result includes a distribution waybill number, a distribution waybill state, a target robot ID, and a bin label;
the first interaction module 103 is configured to continuously obtain the delivery manifest and the state of the target robot, and push the state of the delivery manifest and the state of the target robot to the container server in an event form until the target robot moves to the pick-up point;
the second interaction module 104 is configured to interact with the container server until the target robot completes pile entering, connection and pile exiting;
the third interactive module 105 is configured to continuously obtain the delivery manifest and the state of the target robot, and push the state of the delivery manifest and the state of the target robot to the container server in an event form until the target robot moves to the target delivery point.
In a preferred embodiment, the second interaction module 104 includes a stake feeding interaction unit 1041, and the stake feeding interaction unit 1041 is configured to continuously push the target robot to the container server in a state that the container point is reached after the target robot moves to the pick-up point location; the device is used for receiving the opened state of the cabinet door continuously pushed by the container server and sending a pile driving instruction to the target robot; the real-time state of the target robot is obtained, and the state of the target robot is continuously pushed to the container server to be in pile driving; the pile driving in-place signal is used for receiving pile driving in-place signals continuously pushed by the container server and sending a pile driving finishing instruction to the target robot; and the real-time state acquisition unit is used for acquiring the real-time state of the target robot and pushing the state of the target robot to the container server to be completed after pile driving.
In a preferred embodiment, the container server 200 is configured to put goods by using a corresponding funnel according to the bin labels, detect whether goods exist on the funnel after the funnel action is completed, and push a goods putting completion state to the scheduling server if no goods exist;
the second interaction module 104 comprises a connection interaction unit 1042, and the connection interaction unit 1042 is configured to receive a put state of container server pushing continuously until the put state is switched from put to put; and the weighing instruction is used for sending a weighing instruction to the target robot, the weighing result of the target robot is obtained, and if the weighing result changes, the delivery waybill is pushed to the container server in a successful delivery state.
In a preferred embodiment, the second interaction module 104 includes a pile output interaction unit 1043, where the pile output interaction unit 1043 is configured to send a pile output instruction to the target robot and push the state of the target robot to the container server as in pile output when it is determined that all the delivery waybills corresponding to the pick-up point location are put completely; and after the target robot is moved out of the container, pushing the target robot to the container server in a state of pile discharging is completed.
In a preferred embodiment, the waybill allocation module 102 specifically includes:
the creating unit 1021 is used for creating a delivery freight note according to the information of the delivery freight note and pushing the delivery freight note to the container server;
a distribution unit 1022 for immediately distributing the target robot to the distribution waybill and locking at least one bay of the target robot;
a distribution result pushing unit 1023 for pushing the distribution result to the container server;
and the canceling unit 1024 is configured to cancel the delivery waybill and generate a canceling result to send to the container server when no target robot receives the delivery waybill within a preset time.
In a preferred embodiment, the dispatch server 100 further comprises a waybill abnormal ending module 106, the waybill abnormal ending module 106 comprises a first ending unit 1061 and a second ending unit 1062,
the first end unit 1061 is configured to obtain a pile driving duration of the target robot and/or an opening duration of the cabinet door, send a pile sending instruction to the target robot when the pile driving duration or the opening duration is greater than a first preset threshold, cancel the delivery waybill after the pile driving of the target robot is completed, generate a cancellation result, and send the cancellation result to the container server;
the second ending unit 1062 is configured to obtain a time length of waiting for putting and/or a retry number of putting of the target robot, send a pile sending instruction to the target robot when the time length of waiting for putting is greater than a second preset threshold or the retry number of putting is greater than a preset number, cancel the delivery waybill after the pile sending of the target robot is completed, generate a cancellation result, and send the cancellation result to the container server; the cancellation result comprises a delivery order number, a delivery waybill state and a cancellation reason.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. An automatic pick-up and delivery method of a mobile robot is applied to a scheduling server and is characterized by comprising the following steps:
step 1, receiving a goods taking and shipping bill pushed by a container server, wherein the information of the goods taking and shipping bill comprises a goods taking list number, a goods taking point location and a target distribution point location;
step 2, creating a delivery waybill according to the information of the pickup waybill, distributing a target robot to the delivery waybill, and pushing a distribution result to the container server, wherein the distribution result comprises a delivery waybill number, a delivery waybill state, a target robot ID and a bin position label;
step 3, continuously acquiring the states of the delivery waybill and the target robot, and pushing the states of the delivery waybill and the target robot to a container server in an event mode until the target robot moves to the goods taking point;
step 4, interacting with the container server until the target robot enters the pile, is connected and exits the pile;
and 5, continuously acquiring the states of the delivery waybill and the target robot, and pushing the states of the delivery waybill and the target robot to a container server in an event mode until the target robot moves to the target delivery point.
2. The automatic pickup method for a mobile robot according to claim 1, wherein the step of creating a delivery waybill based on the information of the pickup waybill, and assigning a target robot to the delivery waybill comprises:
s201, creating a delivery freight note according to the information of the pickup freight note, and pushing the delivery freight note to a container server;
s202, immediately distributing a target robot for the distribution waybill, and locking at least one bin of the target robot;
s203, pushing the distribution result to a container server;
s204, when no target robot receives the delivery waybill within the preset time, the delivery waybill is cancelled, and a cancellation result is generated and sent to the container server.
3. The automatic parts picking and delivering method of a mobile robot according to claim 1 or 2, wherein the interaction with the container server is performed until the target robot completes the piling, and the method comprises the following steps:
s401, after the target robot moves to the goods taking point position, continuously pushing the target robot to the container server in a state that the target robot reaches the container point;
s402, receiving the opened state of a cabinet door continuously pushed by the container server, and sending a pile driving instruction to the target robot;
s403, acquiring the real-time state of the target robot, and continuously pushing the state of the target robot to the container server to be in pile driving;
s404, receiving pile driving in-place signals continuously pushed by the container server, and sending a pile driving finishing instruction to the target robot;
s405, acquiring the real-time state of the target robot, and pushing the state of the target robot to the container server to be that pile driving is completed.
4. The method for automatically picking and delivering workpieces of a mobile robot according to claim 3, wherein the step of interacting with the container server until the target robot is docked comprises the following steps:
s406, receiving a stocking state continuously pushed by the container server until the stocking state is switched from stocking to stocking completion;
s407, sending a weighing instruction to a target robot, acquiring a weighing result of the target robot, and if the weighing result changes, pushing the delivery waybill to the container server in a successful delivery state;
and the container server adopts a corresponding funnel to put goods according to the bin position label, detects whether goods exist on the funnel after the funnel action is finished, and pushes a goods putting completion state to the scheduling server if no goods exist.
5. The automatic parts picking and delivering method of a mobile robot according to claim 4, wherein the interaction with the container server is performed until the target robot completes the pile-out, specifically:
s408, when all the delivery waybills corresponding to the goods taking points are judged to be put completely, sending a pile sending instruction to the target robot, and pushing the target robot to the container server to be in a pile sending state;
s409, after the target robot is moved out of the container, pushing the target robot to the container server in a state that pile discharging is completed.
6. The automatic pickup and delivery method of a mobile robot according to claim 5, further comprising an waybill abnormal ending step, wherein the waybill abnormal ending step specifically comprises:
acquiring the pile driving time length of a target robot and/or the opening time length of a cabinet door, sending a pile driving instruction to the target robot when the pile driving time length or the opening time length is larger than a first preset threshold value, canceling the delivery waybill after the pile driving of the target robot is finished, generating a canceling result and sending the canceling result to the container server;
the method comprises the steps that the stocking waiting time and/or stocking retry times of a target robot are/is obtained, when the stocking waiting time is larger than a second preset threshold value or the stocking retry times are larger than preset times, a piling instruction is sent to the target robot, the delivery waybills are cancelled after the stocking of the target robot is completed, and a cancellation result is generated and sent to a container server;
the cancellation result comprises a delivery order number, a delivery waybill state and a cancellation reason.
7. An automatic pick-and-place system of a mobile robot is characterized by comprising a scheduling server, a container server and a target robot, wherein the scheduling server comprises an waybill receiving module, a waybill distribution module, a first interaction module, a second interaction module and a third interaction module,
the freight note receiving module is used for receiving a goods taking freight note pushed by the container server, and the information of the goods taking freight note comprises a goods taking note number, a goods taking point position and a target distribution point position;
the waybill distribution module is used for creating a distribution waybill according to the information of the goods taking waybill, distributing a target robot to the distribution waybill and pushing a distribution result to the container server, wherein the distribution result comprises a distribution waybill number, a distribution waybill state, a target robot ID and a bin position label;
the first interaction module is used for continuously acquiring the states of the delivery waybills and the target robot and pushing the states of the delivery waybills and the target robot to the container server in an event mode until the target robot moves to the goods taking position;
the second interaction module is used for interacting with the container server until the target robot completes pile entering, connection and pile exiting;
the third interaction module is used for continuously acquiring the states of the delivery waybill and the target robot, and pushing the states of the delivery waybill and the target robot to the container server in an event mode until the target robot moves to the target delivery point.
8. The automatic picking and delivering system of a mobile robot according to claim 7, wherein the second interactive module comprises a pile-entering interactive unit, and the pile-entering interactive unit is used for continuously pushing the target robot to the container server after the target robot moves to the picking point position, wherein the state of the target robot is that the container point is reached; the device is used for receiving the opened state of the cabinet door continuously pushed by the container server and sending a pile driving instruction to the target robot; the real-time state of the target robot is obtained, and the state of the target robot is continuously pushed to the container server to be in pile driving; the pile driving in-place signal is used for receiving pile driving in-place signals continuously pushed by the container server and sending a pile driving finishing instruction to the target robot; and the real-time state acquisition unit is used for acquiring the real-time state of the target robot and pushing the state of the target robot to the container server to be completed after pile driving.
9. The system according to claim 7, wherein the container server is configured to put the goods using a corresponding funnel according to the bin label, detect whether the goods are on the funnel after the funnel operation is completed, and push the delivery completion status to the scheduling server if the goods are not on the funnel;
the second interaction module comprises a connection interaction unit, and the connection interaction unit is used for receiving a stocking state continuously pushed by the container server until the stocking state is switched from stocking to stocking completion; and the weighing instruction is used for sending a weighing instruction to the target robot, the weighing result of the target robot is obtained, and if the weighing result changes, the delivery waybill is pushed to the container server in a successful delivery state.
10. The automatic picking and delivering system of the mobile robot according to claim 7, wherein the second interaction module comprises a pile-out interaction unit, and the pile-out interaction unit is configured to send a pile-out instruction to the target robot and push the state of the target robot to the container server as in pile-out when it is determined that all delivery waybills corresponding to the picking point location are put in good; and after the target robot is moved out of the container, pushing the target robot to the container server in a state of pile discharging is completed.
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| CN202011054038.9A CN112396286A (en) | 2020-09-29 | 2020-09-29 | Automatic pick-and-place method and system for mobile robot |
| PCT/CN2021/100230 WO2022068268A1 (en) | 2020-09-29 | 2021-06-16 | Automatic pick-up and drop-off method and system for mobile robot |
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| CN115231179A (en) * | 2022-08-08 | 2022-10-25 | 上海有个机器人有限公司 | Weighing-based robot distribution method and system and related products |
| CN115564358B (en) * | 2022-11-17 | 2023-03-31 | 华清科盛(北京)信息技术有限公司 | Cabinet arrangement method and system for conveying raw materials on production line based on heuristic algorithm |
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