CN111994593A

CN111994593A - Logistics equipment and logistics processing method

Info

Publication number: CN111994593A
Application number: CN202010859328.4A
Authority: CN
Inventors: 桑庆庆; 李骊
Original assignee: Nanjing Huajie Imi Technology Co ltd; Beijing HJIMI Technology Co Ltd
Current assignee: Nanjing Huajie Imi Technology Co ltd; Beijing HJIMI Technology Co Ltd
Priority date: 2020-08-24
Filing date: 2020-08-24
Publication date: 2020-11-27
Anticipated expiration: 2040-08-24
Also published as: CN111994593B

Abstract

The invention provides a logistics device and a logistics processing method, wherein the logistics device comprises: a controller and an actuator; the executing mechanism comprises a moving mechanism, a gravity sensor, a navigation sensor, an RGB-D camera and a grabbing mechanism which are integrated on the main body; the RGB-D camera is arranged at the front end of the main body; the grabbing mechanism is arranged above the main body; in the scheme, the specific track moved by the carrying robot and the specific position fixed by the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of an unstacking area, the position of an area to be palletized, the space parameter, the object parameter, the distance parameter, the weight parameter and the preset placing rule, so that the logistics processing efficiency is improved.

Description

Logistics equipment and logistics processing method

Technical Field

The invention relates to the technical field of data processing, in particular to logistics equipment and a logistics processing method.

Background

With the rapid development of the logistics industry, logistics processing of articles is required.

At present, when the logistics processing is carried out on the objects, the objects needing to be processed in the logistics are carried and stacked through the carrying robot and the stacking robot. The conveying robot conveys the sorted articles to a designated area along a specific track, and places the articles into a designated shelf after the articles reach the designated area; the palletizing robot located at a specific position palletizes the items in the designated shelf when determining that the items exist in the designated shelf. However, since the transfer robot can only transfer the objects to be processed along a specific track and the palletizing robot can only palletize the objects to be processed at a specific position, the specific track along which the transfer robot moves and the specific position at which the palletizing robot is fixed need to be manually adjusted according to the positions of the objects to be processed, resulting in inefficient logistics processing.

Disclosure of Invention

In view of this, embodiments of the present invention provide a logistics device and a logistics processing method, so as to solve the problem of low logistics processing efficiency in the prior art.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

the first aspect of the embodiments of the present invention discloses a logistics apparatus, which includes: a controller and an actuator;

the executing mechanism comprises a moving mechanism, a gravity sensor, a navigation sensor, an RGB-D camera and a grabbing mechanism which are integrated on the main body;

the RGB-D camera is arranged at the front end of the main body and used for acquiring the object parameters of the object to be processed, the space parameters of the stacking area and the distance parameters between the object to be processed and the grabbing mechanism and sending the parameters to the controller;

the grabbing mechanism is arranged above the main body and used for grabbing the object to be processed;

the gravity sensor is used for acquiring the weight parameter of the object to be processed after the grabbing mechanism grabs the object to be processed, and sending the weight parameter to the controller;

the controller is used for carrying out simulation calculation according to the position of the actuating mechanism, the position of an unstacking area, the position of an area to be palletized, the space parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter and a preset placing rule, and determining the moving track of the actuating mechanism, the operating parameter of the grabbing mechanism and the placing position of the object to be processed in the area to be palletized; and controlling the motion mechanism to move along the moving track based on the navigation sensor, and controlling the grabbing mechanism to grab and place the to-be-processed object at the placing position of the to-be-palletized area based on the operating parameters.

Optionally, the moving track of the executing mechanism includes a first moving track and a second moving track, and the controller is configured to perform simulation calculation according to the position of the executing mechanism, the position of the non-stacking area, the position of the to-be-stacked area, the spatial parameter of the to-be-stacked area, the object parameter, the distance parameter, the weight parameter, and a preset placement rule, to determine the moving track of the executing mechanism, the operating parameter of the grabbing mechanism, and the placement position of the to-be-processed object in the to-be-stacked area, and is specifically configured to:

carrying out simulation calculation based on the distance parameter, the position of the non-stacking area and the position of the area to be stacked to obtain the operating parameter of the grabbing mechanism;

performing simulation calculation based on the position of the executing mechanism and the position of the area to be palletized to obtain the first moving track, wherein the first moving track is used for indicating a path for the executing mechanism to move from the area not to be palletized to the area to be palletized;

and carrying out simulation calculation based on the position of the actuating mechanism, the space parameter of the area to be stacked, the object parameter, the weight parameter and a preset placing rule to obtain the second moving track and the placing position of the object to be processed in the area to be stacked.

Optionally, the operation mechanism includes a servo motor, and the controller that controls the movement mechanism to move along the movement track based on the navigation sensor is specifically configured to:

after the first moving track is obtained through simulation calculation, the servo motor is controlled to move along the first moving track based on the navigation sensor, so that the current position of the executing mechanism is in the area to be stacked;

after the second moving track is obtained through simulation calculation, the servo motor is controlled to move along the second moving track based on the navigation sensor, and the distance between the current position of the executing mechanism and the placement position of the to-be-processed object in the to-be-palletized area is smaller than a preset distance threshold.

Optionally, the grabbing mechanism comprises a mechanical arm and a sucker, and a grabbing end of the mechanical arm is connected with the sucker; the controller for controlling the grabbing mechanism to grab and place the object to be processed at the placing position of the area to be stacked based on the operating parameters is specifically configured to:

controlling the mechanical arm to move right above the object to be processed based on the operating parameters of the grabbing mechanism, so that the distance between the mechanical arm and the object to be processed is within a first preset distance;

sucking the object to be processed by using a sucking disc connected with the mechanical arm;

when the distance between the current position of the executing mechanism and the placement position of the object to be processed in the area to be palletized is smaller than a preset distance threshold, controlling the mechanical arm to move to a position right above the placement position of the object to be processed in the area to be palletized, and enabling the distance between the mechanical arm and the placement position of the object to be processed to be within a second preset distance;

and placing the to-be-processed object sucked by the sucking disc at a placing position of the to-be-palletized area.

Optionally, the RGB-D camera is further configured to acquire obstacle information of a traveling direction of the actuator.

Optionally, the controller is further configured to:

determining whether obstacle information sent by the RGB-D camera is received or not in the process of controlling the motion mechanism to move along the moving track based on the navigation sensor, wherein the obstacle information comprises the distance between the execution mechanism and an obstacle;

if so, judging whether the distance between the executing mechanism and the barrier is greater than or equal to a preset safety distance;

and if the distance is larger than or equal to the preset distance, controlling the executing mechanism to stop moving, and performing simulation calculation according to the obstacle information, the position of the executing mechanism, the position of the area to be stacked, the space parameter of the area to be stacked, the object parameter, the distance parameter, the weight parameter and a preset placing rule to determine a new moving track of the executing mechanism.

Optionally, the controller is further configured to:

and when the space parameter of the area to be stacked is determined to be smaller than the space parameter of a preset stacking area, controlling the actuating mechanism to stop stacking and moving to the preset standby area.

Optionally, the logistics apparatus further includes: a remote control handle device;

the input end of the remote control handle equipment is connected with the controller;

the output end of the remote control handle equipment is connected with the executing mechanism;

the remote control handle equipment is used for controlling the execution mechanism to move and controlling the grabbing mechanism to grab the object to be processed.

The second aspect of the embodiment of the invention discloses a logistics processing method, which comprises the following steps:

receiving object parameters of the object to be processed, space parameters of a stacking area and distance parameters between the object to be processed and the grabbing mechanism, wherein the object parameters are acquired by the RGB-D camera;

receiving the weight parameter of the object to be processed, which is obtained after the gravity sensor grabs the object to be processed by the grabbing mechanism;

performing simulation calculation according to the position of the actuating mechanism, the position of an unstacking area, the position of the area to be palletized, the space parameter of the area to be palletized, the parameter of the object, the distance parameter, the weight parameter and a preset placing rule, and determining the moving track of the actuating mechanism, the operating parameter of the grabbing mechanism and the placing position of the object to be processed in the area to be palletized;

and controlling the motion mechanism to move along the moving track based on the navigation sensor, and controlling the grabbing mechanism to grab and place the to-be-processed object at the placing position of the to-be-palletized area based on the operating parameters.

Optionally, the method further includes: and when the space parameter of the area to be stacked is determined to be smaller than the space parameter of a preset stacking area, controlling the actuating mechanism to stop stacking and moving to the preset standby area.

Based on the logistics equipment and the logistics processing method provided by the embodiment of the invention, the logistics equipment comprises: a controller and an actuator; the executing mechanism comprises a moving mechanism, a gravity sensor, a navigation sensor, an RGB-D camera and a grabbing mechanism which are integrated on the main body; the RGB-D camera is arranged at the front end of the main body and used for acquiring the object parameters of the object to be processed, the space parameters of the stacking area and the distance parameters between the object to be processed and the grabbing mechanism and sending the parameters to the controller; the grabbing mechanism is arranged above the main body and used for grabbing the object to be processed; the gravity sensor is used for acquiring the weight parameter of the object to be processed after the object to be processed is grabbed by the grabbing mechanism and sending the weight parameter to the controller; the controller is used for carrying out simulation calculation according to the position of the actuating mechanism, the position of the non-stacking area, the position of the to-be-stacked area, the space parameter of the to-be-stacked area, the object parameter, the distance parameter, the weight parameter and a preset placing rule, and determining the moving track of the actuating mechanism, the operating parameter of the grabbing mechanism and the placing position of the to-be-processed object in the to-be-stacked area; and controlling the movement mechanism to move along the moving track based on the navigation sensor, and controlling the grabbing mechanism to grab and place the to-be-processed object at the placing position of the to-be-palletized area based on the operation parameters. In the embodiment of the invention, the specific track for moving the carrying robot and the specific position for fixing the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of the non-palletizing area, the position of the area to be palletized, the space parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter and the preset placing rule, so that the efficiency of logistics processing is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a logistics apparatus according to an embodiment of the present invention;

FIG. 2 is a block diagram of an actuator according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of an embodiment of an actuator;

FIG. 4 is a schematic flow chart of a method for processing a material flow according to an embodiment of the present invention;

FIG. 5 is a schematic flow diagram of another method of stream processing according to an embodiment of the present invention;

fig. 6 is a flowchart illustrating an obstacle detection process according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the embodiment of the invention, the specific track for moving the carrying robot and the specific position for fixing the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of the non-palletizing area, the position of the area to be palletized, the space parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter and the preset placing rule, so that the efficiency of logistics processing is improved.

Referring to fig. 1, a schematic structural diagram of a logistics apparatus according to an embodiment of the present invention is shown, wherein the logistics apparatus 10 includes a controller 20 and an actuator 30.

The controller 20 is communicatively coupled to the actuator 30.

The controller includes an upper computer provided in the console and a lower computer provided in the main body of the actuator.

Based on the logistics apparatus described in fig. 1, in a specific implementation of the embodiment of the present invention, a specific structure of the actuator 30 shown in fig. 1 is also disclosed, as shown in fig. 2.

The actuator 30 includes a motion mechanism 302, a gravity sensor 303, a navigation sensor 304, a three-channel color image (Red green blue-DepthMap, RGB-D) camera 305, and a grasping mechanism 306 integrated on an actuator body 301.

The RGB-D camera 305 is disposed at the front end of the main body 301, and is configured to acquire an object parameter of the object to be processed, a space parameter of the palletizing area, and a distance parameter between the object to be processed and the gripping mechanism 306, and send the parameters to the controller 20.

The front end of the main body 301 is determined according to the direction in which the actuator 30 advances when moving.

Specifically, when the actuator 30 moves forward, the front end of the main body 301 is the front side of the main body 301; when the actuator 30 moves backward, the front end of the main body 301 is the rear side of the main body 301.

It should be noted that the article parameter of the article to be processed includes the volume of the article to be processed.

In a specific implementation, when the position of the actuator 30 is in the non-palletizing area, the RGB-D camera 305 takes pictures of the object to be processed right in front and its surroundings in real time, and calculates the volume of the object to be processed and the distance parameter between the object to be processed and the gripping mechanism 306 through an algorithm built in the RGB-D camera 305. When the position of the actuator 30 is in the area to be palletized, the RGB-D camera 305 takes a picture of the area to be palletized in real time, and calculates a spatial parameter of the area to be palletized through an algorithm built in the RGB-D camera 305. The volume of the object to be processed, the distance parameter between the object to be processed and the gripping mechanism 306, and the spatial parameter of the area to be palletized are sent to the controller 20.

The pictures of the object to be processed and the surroundings thereof include a picture corresponding to the object to be processed, a picture of the object to be processed and the grasping mechanism 306, and the like.

The gripping mechanism 306 is disposed above the main body 301 for gripping an object to be processed.

In a specific implementation, the fixed end of the grabbing mechanism 306 is arranged at the panel above the main body, and the grabbing end of the grabbing mechanism 306 is used for grabbing the object to be processed.

It should be noted that the fixed end of the grasping mechanism 306 can be rotated 360 degrees on the upper panel of the main body.

And the gravity sensor 303 is used for acquiring the weight parameter of the object to be processed after the grabbing mechanism 306 grabs the object to be processed, and sending the weight parameter to the controller 20.

In a specific implementation, the gravity sensor 303 is disposed at a side of the main body 301, and a measuring end of the gravity sensor 303 is disposed in a grabbing end of the grabbing mechanism 306, so as to measure a weight parameter of the object to be processed after the grabbing mechanism 306 grabs the object to be processed, and send the weight parameter to the controller 20.

Optionally, if the gravity sensor 303 does not detect the weight parameter of the object to be processed, which indicates that the gripping mechanism 306 does not grip the object to be processed, the controller 20 controls the actuator 30 to return to the non-palletizing area, and controls the gripping mechanism 306 to repeat the gripping operation.

The navigation sensor 304 is provided on the main body 301, and the movement mechanism 302 is provided below the main body 301.

The controller 20 is used for performing simulation calculation according to the position of the actuating mechanism 30, the position of an unstacking area, the position of an area to be palletized, the space parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter and a preset placing rule, and determining the moving track of the actuating mechanism 301, the operating parameter of the grabbing mechanism 306 and the placing position of the object to be processed in the area to be palletized; and controlling the movement mechanism 302 to move along the moving track based on the navigation sensor, and controlling the grabbing mechanism 306 to grab and place the object to be processed at the placing position of the area to be palletized based on the operating parameters.

In a specific implementation, the controller 20 receives the volume of the object to be processed and the distance parameter between the object to be processed and the grasping mechanism 306, which are sent by the RGB-D camera 305, and receives the weight parameter of the object to be processed, which is sent by the gravity sensor 303. And based on the position of the executing mechanism 30, the position of the non-stacking area, the position of the area to be stacked, the space parameter of the area to be stacked, the parameter of the object, the distance parameter, the weight parameter and the preset placing rule, the simulation calculation is carried out by using a simulation algorithm, and the moving track of the executing mechanism 301, the operating parameter of the grabbing mechanism 306 and the placing position of the object to be processed in the area to be stacked are determined. When the position of the current actuator 30 is in the non-palletizing area, controlling the gripping mechanism 306 to grip the object to be processed based on the operating parameters; after the gripping mechanism 306 grips the object to be processed, the control movement mechanism 302 moves along the movement track based on the navigation sensor and places the object to be processed at the placement position of the area to be palletized.

The position of the non-palletizing area refers to the coordinate and the range of objects to be processed which are not palletized, and the position of the area to be palletized refers to the coordinate and the range of objects to be processed which are palletized.

The position of the unstacked zone is set by the technician according to the position of the article currently to be processed. The position of the area to be palletized is set by a technician according to actual conditions.

The position of the actuator 30 is detected in real time from the navigation sensor 304.

It should be noted that the preset placing rule may be placing according to the weight of the article or the volume of the article. The preset placing rule can be set by a technician according to actual conditions, or set by the technician according to experience, for example: the object to be processed with larger weight more than 20KG is preferentially placed below the height of the area to be palletized which is 1.2 meters.

The movement trajectory includes a first movement trajectory and a second movement trajectory.

In the embodiment of the present invention, the movement trajectory shows a third movement trajectory in addition to the first movement trajectory and the second movement trajectory shown above.

The third movement track refers to a path of the actuator moving from a preset standby area to a position of an unstacking area, or a path of the actuator moving from the standby area to the position of the unstacking area.

Optionally, when the logistics apparatus is started, that is, when the actuator is to carry the first article to be processed, the controller sends a check instruction to the actuator 30 to check whether the moving mechanism 302, the gravity sensor 303, the navigation sensor 304, the RGB-D camera 305, and the grabbing mechanism 306 in the actuator can operate normally, and when any one or more of the moving mechanism 302, the gravity sensor 303, the navigation sensor 304, the RGB-D camera 305, and the grabbing mechanism 306 cannot operate normally, the actuator stops operating, and sends a corresponding fault signal to the controller 20 through the wireless network, so that the user can replace the apparatus corresponding to the fault signal or start other protection measures. When the motion mechanism 302, the gravity sensor 303, the navigation sensor 304, the RGB-D camera 305 and the grabbing mechanism 306 all work normally, the motion mechanism 302 is controlled to move along the third moving track based on the navigation sensor 304, so that the current position of the execution mechanism is in the non-palletizing area.

Optionally, when the actuator is controlled to return to the non-palletized area, that is, the actuator is not carrying the first object to be processed, the control motion mechanism 302 moves along the third movement track based on the navigation sensor 304, so that the current position of the actuator returns to the non-palletized area.

It should be noted that the third moving track is obtained by performing simulation calculation by using a simulation algorithm according to the current position of the actuator and the non-stacking area.

Optionally, the logistics device is further provided with a remote control handle device.

The input of the remote control handle device is connected to the controller 20 and the output of the remote control handle device is connected to the actuator.

And the remote control handle equipment is used for controlling the execution mechanism to move.

In a specific implementation, the remote control handle device controls the actuator 30 to move according to the simulation result, and controls the grasping mechanism 306 to grasp the object to be processed.

Based on the above-mentioned actuator shown in fig. 1, in a specific implementation of the embodiment of the present invention, specific structures of the moving mechanism 302, the navigation sensor 304, and the grasping mechanism 306 shown in fig. 1 are also disclosed, as shown in fig. 3.

The operating mechanism 302 includes a servo motor (not shown in the drawings) provided inside the main body 301.

Optionally, the operating mechanism 302 further includes a wheel 3021 coupled to the servo motor.

The gripping mechanism 306 includes a robot arm 3061 and a suction cup 3062, the fixed end of the robot arm 3061 is fixed above the actuator body 301, and the gripping end of the robot arm 3061 is connected to the suction cup 3062.

Optionally, the grabbing mechanism 306 further comprises a tray disposed inside the actuator body 301. When the suction cup 3062 sucks the object to be treated, the tray is controlled to be extended to drag the bottom of the object to be treated.

The navigation sensor 304 has a built-in gyroscope for determining the traveling direction of the actuator 30.

Optionally, the RGB-D camera 305 is also used to acquire obstacle information of the travel direction of the actuator 30.

In a specific implementation, during the movement of the actuator 30, the RGB-D camera 305 captures an image of an obstacle in the moving direction of the actuator 30 in real time, calculates obstacle information through an algorithm built in the RGB-D camera 305, and sends the obstacle information to the controller 20.

The obstacle information includes information on the volume of the obstacle, the distance between the obstacle and the actuator, and the like.

Based on the actuator shown in fig. 3, the controller 20, which performs simulation calculation according to the position of the actuator 30, the position of the unstacking area, the position of the area to be palletized, the spatial parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter, and the preset placing rule, determines the moving track of the actuator 30, the operation parameter of the grabbing mechanism 306, and the placing position of the object to be processed in the area to be palletized, and is specifically configured to: performing simulation calculation based on the distance parameters and the position of the non-stacking area to obtain the operating parameters of the grabbing mechanism 306; performing simulation calculation based on the position of the executing mechanism 30 and the position of the area to be stacked to obtain a first moving track; and performing simulation calculation based on the position of the actuating mechanism 30, the space parameter, the object parameter, the weight parameter and the preset placing rule of the area to be stacked to obtain a second moving track and the placing position of the object to be processed in the area to be stacked.

In a specific implementation, when the position of the current executing mechanism 30 is in the non-stacking area, a simulation algorithm is used for performing simulation calculation on the distance parameter and the position of the non-stacking area, and a first operating parameter of the grabbing mechanism 306 is determined; and performing simulation calculation on the distance parameter and the position of the stacking area by using a simulation algorithm, and determining a second operating parameter of the grabbing mechanism 306. After the grabbing mechanism grabs the object to be processed, the position of the executing mechanism 30 and the position of the area to be palletized are subjected to simulation calculation by using a simulation algorithm, and a path from the position of the area not to be palletized to the area to be palletized is obtained. When the executing mechanism 30 moves to the area to be palletized, firstly, performing simulation calculation by using a simulation algorithm based on the space parameters, the object parameters, the weight parameters and the preset placing rules of the area to be palletized to obtain the placing position of the object to be processed in the area to be palletized; and then, carrying out simulation calculation by using a simulation algorithm based on the placement position of the object to be processed in the area to be stacked and the position of the current executing mechanism to obtain a second moving track.

It should be noted that the first operating parameter of the grabbing mechanism 306 refers to a direction and a distance that the grabbing mechanism needs to move before the grabbing mechanism grabs the object to be processed; the second operating parameter of the gripper 306 is the direction and distance the gripper needs to move before placing the object to be processed.

The first movement trajectory is used to indicate the path along which the actuator 30 moves from the non-palletized area to the area to be palletized.

The second movement trajectory is used to instruct the actuator 30 to move from the area to be palletized to a path corresponding to a position in which it is possible to palletize the objects to be processed.

Based on the actuator shown in fig. 3, the controller 20 for controlling the movement mechanism 302 to move along the movement track based on the navigation sensor is specifically configured to: after the first moving track is obtained through simulation calculation, the servo motor is controlled to move along the first moving track based on the navigation sensor 304, so that the current position of the executing mechanism 30 is in a to-be-palletized area; after the second moving track is obtained through simulation calculation, the servo motor 3062 is controlled to move along the second moving track based on the navigation sensor 304, so that the distance between the current position of the executing mechanism 30 and the placement position of the object to be processed in the area to be stacked is smaller than a preset distance threshold value.

In a specific implementation, after the grabbing mechanism 306 grabs the object to be processed and obtains a first moving track through simulation calculation, the first moving track is substituted into the navigation sensor 304, and a control instruction is sent to the servo motor, so that the servo motor drives an actuator wheel 3021 connected to the servo motor according to the control instruction and moves along the first moving track based on the navigation sensor 304, so that the actuator moves to an area to be palletized.

After the actuator moves to the area to be palletized and a second movement track is obtained through simulation calculation, the second movement track is substituted into the navigation sensor 304 and a control instruction is sent to the servo motor, so that the servo motor drives an actuator wheel 3021 connected with the servo motor according to the control instruction. And based on the navigation sensor 304 moving along the second movement trajectory, the actuator 30 is moved to a position where it is able to palletize the objects to be processed. The position at which the to-be-processed object can be palletized means that the distance between the current position of the actuator 30 and the placement position of the to-be-processed object in the to-be-palletized area is smaller than a preset distance threshold.

It should be noted that the preset distance threshold is set by a technician according to actual situations, and may be set to be 1.25 meters, for example.

Based on the actuator shown in fig. 3, the controller 20, which controls the gripping mechanism 306 to grip and place the object to be processed in the placement position of the area to be palletized based on the operating parameters, is specifically configured to: based on the operating parameters of the grabbing mechanism 306, the mechanical arm 3061 is controlled to move to a position right above the object to be processed, so that the distance between the mechanical arm 3061 and the object to be processed is within a first preset distance; a suction cup 3062 connected to the robot arm 3061 is used to suck the article to be processed; when the distance between the current position of the executing mechanism 30 and the placement position of the object to be processed in the area to be palletized is smaller than a preset distance threshold, the mechanical arm 3061 is controlled to move to a position right above the placement position of the object to be processed in the area to be palletized, and the distance between the mechanical arm 3061 and the placement position of the object to be processed is made to be within a second preset distance; the object to be processed sucked by the suction cup 3062 is placed at a placement position of the area to be palletized.

In a specific implementation, the robot 3061 is controlled to move using the first operating parameter of the gripper mechanism 306 such that the robot 3061 is directly above the object to be processed and the distance between the robot 3061 and the object to be processed is within the first predetermined distance, at which time the object to be processed is sucked using the suction cup 3062 connected to the robot 3061. When the distance between the current position of the actuator 30 and the placement position of the object to be processed in the area to be palletized is smaller than the preset distance threshold, the mechanical arm 3061 is controlled to move by using the second operating parameter of the grabbing mechanism 306, so that the mechanical arm 3061 is directly above the placement position of the object to be processed in the area to be palletized, and the distance between the mechanical arm 3061 and the placement position of the object to be processed in the area to be palletized is within the second preset distance. At this time, the object to be processed sucked by the suction cup 3062 is placed at the placing position of the area to be palletized.

It should be noted that the first preset distance and the second preset distance may be the same or different. The first preset distance and the second preset distance are both set by a technician according to a plurality of experiments, for example, the first preset distance is set to be 20 cm, and the second preset distance is also set to be 20 cm.

Optionally, with continued reference to fig. 3, the actuator may further be provided with an indicator light 307 and a power interface 308 and a power source (not shown).

The indicator lamp 307 is provided on the side of the actuator main body, the power source interface 308 is provided on the side of the actuator main body, and the power source is provided inside the actuator main body 301.

The input end of the power supply is connected with a power supply interface 308, and the output end of the power supply is connected with a motion mechanism 302, a gravity sensor 303, a navigation sensor 304, an RGB-D camera 305 and a grabbing mechanism 306 which are integrated on the actuator main body 301.

And a power interface 308 for charging the power supply by an external power source.

A power supply for supplying power to the moving mechanism 302, the gravity sensor 303, the navigation sensor 304, the RGB-D camera 305, and the grasping mechanism 306 integrated on the actuator main body 301.

The controller 20 is also configured to: in the process of controlling the motion mechanism 302 to move along the movement trajectory based on the navigation sensor 304, it is determined whether the obstacle information transmitted by the RGB-D camera 305 is received. If so, judging whether the distance between the actuating mechanism 30 and the obstacle is greater than or equal to a preset safety distance; if the current value is larger than or equal to the preset value, the actuating mechanism is controlled to stop moving, and the indicator light is triggered to light the red light. At this time, simulation calculation is performed according to the obstacle information, the position of the actuator, the position of the area to be palletized, the spatial parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter and the preset placing rule, and a new moving track of the actuator 30 is determined.

The obstacle information includes a distance between the actuator and the obstacle.

In a specific implementation, when the obstacle information sent by the RGB-D camera 305 is received while the actuator 30 moves along the first movement track, it is described that an obstacle exists while the actuator moves along the first movement track. At this time, whether the distance between the actuator 30 and the obstacle is greater than or equal to a preset safety distance is detected, if so, it is indicated that the obstacle affects the current movement of the actuator, the actuator 30 is controlled to stop moving, and the indicator light is triggered to light the red light. And performing simulation calculation by using a simulation algorithm based on the obstacle information, the position of the current executing mechanism and the position of the area to be stacked, and determining a new first moving track of the executing mechanism 30. If the detected value is less than the first threshold value, it indicates that no obstacle exists in the process that the execution mechanism 30 moves along the first movement track, the execution mechanism 30 continues to be controlled to move according to the first movement track obtained through simulation, and the indicator light is triggered to light green. Similarly, it is also necessary to determine whether there is an obstacle affecting the operation of the actuator during the movement of the actuator 30 along the second movement trajectory, and the specific detection process is the same as the movement of the actuator along the first transfer trajectory.

Optionally, in the process that the actuator 30 moves along the third movement track, if the obstacle information sent by the RGB-D camera 305 is received, it is described that an obstacle exists in the process that the actuator 30 moves along the third movement track. At this time, whether the distance between the actuator 30 and the obstacle is greater than or equal to a preset safety distance is detected, and if the distance is greater than or equal to the preset safety distance, the actuator 30 is controlled to stop moving, and the indicator light is triggered to light a red light. And performing simulation calculation by using a simulation algorithm based on the obstacle information, the position of the current executing mechanism and the position of the area to be palletized, and determining a new third moving track of the executing mechanism 30. If the current position is smaller than the first position, the execution mechanism 30 continues to be controlled to move according to the third movement track obtained through simulation, and the indicator light is triggered to light green.

In the embodiment of the invention, simulation calculation is carried out according to the position of the actuating mechanism, the position of the non-stacking area, the position of the area to be stacked, the space parameter of the area to be stacked, the object parameter, the distance parameter, the weight parameter and a preset placing rule, and a first operating parameter of the grabbing mechanism, a first moving track of the actuating mechanism, the placing position of the object to be processed in the area to be stacked, a second moving track of the actuating mechanism and a second operating parameter of the grabbing mechanism are sequentially determined; and controlling the movement mechanism to move along the first moving track and the second moving track based on the navigation sensor, controlling the grabbing mechanism to grab the object to be processed based on the first operating parameter, and placing the object to be processed at the placing position of the area to be stacked based on the second operating parameter. In the scheme, the specific track moved by the carrying robot and the specific position fixed by the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of an unstacking area, the position of an area to be palletized, the space parameter, the object parameter, the distance parameter, the weight parameter and the preset placing rule, so that the logistics processing efficiency is improved.

Optionally, based on the logistics apparatus shown above, the controller 20 is further configured to: when the space parameter of the area to be palletized is determined to be smaller than the space parameter of the preset palletizing area, the actuating mechanism 30 is controlled to stop palletizing and move to the preset standby area.

In this specific implementation, the controller 20 determines a relationship between a spatial parameter of the to-be-palletized area and a spatial parameter of the preset palletizing area, and if it is determined that the spatial parameter of the to-be-palletized area is smaller than the spatial parameter of the preset palletizing area, it indicates that the to-be-palletized area cannot be palletized, and at this time, outputs a command to stop palletizing to the actuator 30 to control the actuator 30 to stop palletizing and move to the preset standby area. If the space parameter of the to-be-palletized area is larger than the space parameter of the preset palletizing area, which indicates that the current palletizing area can also be palletized, the actuating mechanism 30 is continuously controlled to return to the non-palletized area so as to circularly carry and palletize the to-be-processed objects until the space parameter of the to-be-palletized area is determined to be smaller than the space parameter of the preset palletizing area.

It should be noted that the preset standby area is a place where the technician parks the actuator according to the actual situation in the field.

In the embodiment of the invention, the specific track for moving the carrying robot and the specific position for fixing the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of the non-palletizing area, the position of the area to be palletized, the space parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter and the preset placing rule. And when the space parameter of the area to be palletized is determined to be smaller than the space parameter of the preset palletizing area, controlling the actuating mechanism to stop palletizing and moving to the preset standby area. Thereby improving the efficiency of logistics processing.

In order to better explain the logistics device shown in the above embodiments of the present invention, in an application scenario of the present application.

Assuming that the position of an unstacking area is A, the position of an area to be palletized is B, the first preset distance is 20 cm, the length, the width and the height of the space parameters of the area to be palletized are 4 meters, the preset distance threshold is 1m, the second preset distance is 10 cm, and the preset placing rule is that objects to be processed with larger weight than 20KG are preferentially placed below 1.2 meters of the height of the area to be palletized.

When the position of the current actuating mechanism is in the non-stacking area A, the RGB-D camera shoots the nearest right-front object to be processed and the surrounding photos thereof in real time and passes through the RGB-D cameraThe volume of the object to be processed is calculated to be 0.5m by a built-in algorithm³When the grabbing mechanism is to grab the object to be processed, the distance parameter between the object to be processed and the grabbing mechanism is 1.2m, and when the grabbing mechanism is to place the object to be processed, the distance parameter between the object to be processed and the grabbing mechanism is 0.8 m.

The controller carries out simulation calculation on the distance parameter of 1.2 meters and the position A of the non-stacking area by using a simulation algorithm, determines that the first operation parameter of the grabbing mechanism is in the northeast direction, and moves the mechanical arm downwards; and controlling the mechanical arm to move towards the northeast direction based on the first operating parameter of the grabbing mechanism, and moving the mechanical arm downwards to a position right above the object to be processed, so that the distance between the mechanical arm and the object to be processed is within a first preset distance of 20 cm. At this time, the suction cup connected to the robot arm sucks the article to be processed Q.

The weight sensor measures the weight parameter of the article to be processed Q to be 25KG and sends the weight parameter to the controller.

Then, after the grabbing mechanism grabs the object to be processed, the controller utilizes a simulation algorithm to perform simulation calculation on the position of the executing mechanism and the position B of the area to be stacked, the first moving track is determined to be a, the first moving track a is substituted into the navigation sensor, and a control instruction is sent to the servo motor, so that the servo motor drives the wheels of the executing mechanism connected with the servo motor according to the control instruction. And moving the executing mechanism to the area to be palletized based on the movement of the navigation sensor along the first moving track a.

The controller is further based on the length, width and height of the space parameters of the area to be stacked, which are 4 meters, and the object parameters are 0.5m³Carrying out simulation calculation on the weight parameter 25KG and a preset placing rule by using a simulation algorithm to obtain a placing position c of the to-be-processed article Q in the to-be-palletized area; and then, carrying out simulation calculation by using a simulation algorithm based on the placement position c of the to-be-processed object Q in the to-be-palletized area and the position of the current executing mechanism to obtain a second moving track b.

And substituting the second moving track b into the navigation sensor, and sending a control instruction to the servo motor so that the servo motor drives an actuating mechanism wheel connected with the servo motor according to the control instruction. And the executing mechanism moves to a position where the to-be-processed object Q can be stacked based on the movement of the navigation sensor along the second moving track b, wherein the position where the to-be-processed object Q can be stacked means that the distance between the current position of the executing mechanism and the placement position of the to-be-processed object Q in the to-be-stacked area is smaller than a preset distance threshold value 1 m.

Performing simulation calculation on the distance parameter of 0.8m and the position b of the stacking area by using a simulation algorithm, determining that a second operation parameter of the grabbing mechanism is in the due north direction, and moving the mechanical arm downwards; and controlling the mechanical arm to move towards the north direction and downwards by utilizing a second operating parameter of the grabbing mechanism, so that the mechanical arm is directly above the placement position c of the object to be processed in the area to be palletized, the distance between the mechanical arm and the placement position c of the object to be processed in the area to be palletized is within 10 centimeters of a second preset distance, and the object to be processed sucked by the suction cup is placed at the placement position c of the area to be palletized.

And finally, continuously carrying and stacking the next object to be processed according to the mode until no residual space exists in the area to be stacked.

Based on the logistics equipment disclosed in the embodiment of the invention, the invention also correspondingly discloses a logistics processing method, as shown in fig. 4, which is a schematic flow diagram of the logistics processing method shown in the embodiment of the invention, and the logistics processing method comprises the following steps:

step S401: and receiving the object parameters of the object to be processed, the space parameters of the stacking area and the distance parameters between the object to be processed and the grabbing mechanism, which are acquired by the RGB-D camera.

Optionally, when the position of the actuator is in the non-palletizing area, the RGB-D camera takes pictures of the nearest article to be processed right in front and its surroundings in real time, and calculates the volume of the article to be processed and the distance parameter between the article to be processed and the gripping mechanism by using an algorithm built in the RGB-D camera. When the position of the actuating mechanism is in the position of the area to be stacked, the RGB-D camera shoots the nearest picture of the area to be stacked in real time, and the spatial parameters of the area to be stacked are calculated through an algorithm built in the RGB-D camera.

In the process of implementing the step S401 specifically, the controller receives the volume of the object to be processed, the distance parameter between the object to be processed and the grasping mechanism, and the space parameter of the area to be palletized, which are sent by the RGB-D camera.

The space parameters of the stacking area refer to the length, width and height of the area needing to stack the objects to be processed.

Step S402: and receiving the weight parameters of the to-be-processed object, which are acquired after the to-be-processed object is grabbed by the grabbing mechanism by the gravity sensor.

Optionally, the gravity sensor measures the weight parameter of the object to be processed after the object to be processed is grabbed by the grabbing mechanism.

In the process of implementing step S402, the controller receives the weight parameter of the object to be processed sent by the gravity sensor.

It should be noted that the weight parameter of the object to be processed includes the weight of the object to be processed.

Step S403: and carrying out simulation calculation according to the position of the executing mechanism, the position of the non-stacking area, the position of the to-be-stacked area, the space parameter of the to-be-stacked area, the object parameter, the distance parameter, the weight parameter and a preset placing rule, and determining the moving track of the executing mechanism, the operating parameter of the grabbing mechanism and the placing position of the to-be-processed object in the to-be-stacked area.

It should be noted that, in the process of executing step S403, the following steps are included:

step S11: and carrying out simulation calculation based on the distance parameter, the position of the non-stacking area and the position of the stacking area to obtain the operating parameters of the grabbing mechanism.

In the specific implementation process of the step S11, when the position of the current execution mechanism is in the non-stacking area, performing simulation calculation on the distance parameter and the position of the non-stacking area by using a simulation algorithm, and determining a first operation parameter of the gripping mechanism; and performing simulation calculation on the distance parameter and the position of the stacking area by using a simulation algorithm, and determining a second operating parameter of the grabbing mechanism.

It should be noted that the first operating parameter of the grabbing mechanism refers to the direction and distance that the grabbing mechanism needs to move before the grabbing mechanism grabs the object to be processed; the second operating parameter of the gripping mechanism refers to the direction and distance that the gripping mechanism needs to move before placing the object to be processed.

Step S12: and carrying out simulation calculation based on the position of the executing mechanism and the position of the area to be stacked to obtain a first moving track.

It should be noted that the first movement path is used to indicate the path of the actuator from the unstacking area to the area to be palletised.

In the process of specifically implementing the step S12, after the gripping mechanism grips the object to be processed, the position of the executing mechanism and the position of the area to be palletized are subjected to simulation calculation by using a simulation algorithm, so as to obtain a path from the position of the area not to be palletized to the area to be palletized.

Step S13: and carrying out simulation calculation based on the position of the actuating mechanism, the space parameter, the object parameter and the weight parameter of the area to be stacked and a preset placing rule to obtain a second moving track and the placing position of the object to be processed in the area to be stacked.

In the process of specifically implementing the step S13, when the actuator moves to the to-be-palletized area, firstly, performing simulation calculation by using a simulation algorithm based on the space parameter, the article parameter, the weight parameter and the preset placing rule of the to-be-palletized area to obtain the placing position of the to-be-processed article in the to-be-palletized area; and then, carrying out simulation calculation by using a simulation algorithm based on the placement position of the object to be processed in the area to be stacked and the position of the current executing mechanism to obtain a second moving track.

It should be noted that the second movement track is used for indicating a path corresponding to the movement of the actuator from the area to be palletized to a position where the actuator is capable of palletizing the objects to be processed.

Step S404: and controlling the movement mechanism to move along the moving track based on the navigation sensor, and controlling the grabbing mechanism to grab and place the to-be-processed object at the placing position of the to-be-palletized area based on the operation parameters.

In the process of specifically implementing the step S404, when the position of the current executing mechanism is in the non-stacking area, controlling the gripping mechanism to grip the object to be processed based on the operating parameters; after the grabbing mechanism grabs the object to be processed, the servo motor is controlled to move along the moving track based on the navigation sensor, and the object to be processed is placed at the placing position of the stacking area.

In the embodiment of the invention, the specific track for moving the carrying robot and the specific position for fixing the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of the non-palletizing area, the position of the area to be palletized, the space parameter of the area to be palletized, the object parameter, the distance parameter, the weight parameter and the preset placing rule. Thereby improving the efficiency of logistics processing.

The logistics processing method shown based on the above embodiment of the invention, with reference to fig. 5 in combination with fig. 4, further includes:

step S405: and judging whether the space parameter of the area to be palletized is smaller than the space parameter of the preset palletizing area or not, executing the step S406 if the space parameter of the area to be palletized is determined to be smaller than the space parameter of the preset palletizing area, and returning to execute the step S401 if the space parameter of the area to be palletized is larger than the space parameter of the preset palletizing area.

In the process of specifically implementing the step S405, in order to determine the number of the to-be-processed objects that can be stacked in the to-be-stacked area, in the process of carrying and stacking by the executing mechanism, a relationship between a spatial parameter of the to-be-stacked area and a spatial parameter of the preset stacking area needs to be determined in real time, if it is determined that the spatial parameter of the to-be-stacked area is smaller than the spatial parameter of the preset stacking area, it is indicated that the to-be-stacked area cannot be stacked, and the step S406 is executed, and if the spatial parameter of the to-be-stacked area is larger than the spatial parameter of the preset stacking area, it is indicated that the current stacking area can also be stacked, and.

It should be noted that the spatial parameter of the preset palletizing area may be preset according to the number of the objects to be processed, or may be set according to the size of the truck or the size of the container, which is not limited in the embodiment of the present invention.

Step S406: and controlling the actuating mechanism to stop stacking and move to a preset standby area.

In the process of specifically implementing the step S406, a palletizing stopping instruction is output to the executing mechanism to control the executing mechanism to stop palletizing and move to a preset standby area.

Based on the logistics processing method shown in the above embodiment of the invention, in the process of executing step S404 to control the motion mechanism to move along the movement track based on the navigation sensor, the method includes the following steps:

step S21: after the first moving track is obtained through simulation calculation, the servo motor is controlled to move along the first moving track based on the navigation sensor, and the current position of the executing mechanism is located in a to-be-palletized area.

In the process of specifically implementing the step S21, after the grabbing mechanism grabs the object to be processed and obtains the first moving track through simulation calculation, the first moving track is substituted into the navigation sensor, and a control instruction is sent to the servo motor, so that the servo motor drives the actuator wheel connected with the servo motor according to the control instruction, and the actuator moves to the area to be palletized based on the navigation sensor along the first moving track.

Step S22: and after the second moving track is obtained through simulation calculation, the servo motor is controlled to move along the second moving track based on the navigation sensor, so that the distance between the current position of the executing mechanism and the placement position of the object to be processed in the area to be stacked is smaller than a preset distance threshold.

In the process of specifically implementing the step S22, after the executing mechanism moves to the to-be-palletized area and a second moving track is obtained through simulation calculation, the second moving track is substituted into the navigation sensor, and a control instruction is sent to the servo motor so that the servo motor drives the executing mechanism wheel connected with the servo motor according to the control instruction, and the executing mechanism moves to a position where the to-be-processed object can be palletized based on the navigation sensor moving along the second moving track, where the position where the to-be-processed object can be palletized means that the distance between the current position of the executing mechanism and the placement position of the to-be-processed object in the to-be-palletized area is smaller than a preset distance threshold.

In an embodiment of the invention, the control motion mechanism is moved along a first movement track and a second movement track based on the navigation sensor. In the scheme, the specific track moved by the carrying robot and the specific position fixed by the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of an unstacking area, the position of an area to be palletized, the space parameter, the object parameter, the distance parameter, the weight parameter and the preset placing rule, so that the logistics processing efficiency is improved.

Based on the logistics processing method shown above, in the step S404, the controller controls the gripping mechanism to grip and place the object to be processed at the placement position of the area to be palletized based on the operation parameters, and the method includes the following steps:

step S31: and controlling the mechanical arm to move right above the object to be processed based on the operating parameters of the grabbing mechanism, so that the distance between the mechanical arm and the object to be processed is within a first preset distance.

In the process of implementing step S31, the first operation parameter of the grabbing mechanism is used to control the robot arm to move, so that the robot arm is directly above the object to be processed, and the distance between the robot arm and the object to be processed is within the first preset distance.

It should be noted that the first preset distance is set by a technician according to a plurality of experiments, and may be set to 20 centimeters, for example.

Step S32: and sucking the object to be processed by using a sucking disc connected with the mechanical arm.

In the course of embodying step S32,

step S33: when the distance between the current position of the execution mechanism and the placement position of the object to be processed in the area to be stacked is smaller than a preset distance threshold value, the mechanical arm is controlled to move to a position right above the placement position of the object to be processed in the area to be stacked, and the distance between the mechanical arm and the placement position of the object to be processed is within a second preset distance.

In the specific implementation process of step S33, when the distance between the current position of the actuator and the placement position of the to-be-processed object in the to-be-palletized area is smaller than the preset distance threshold, the second operating parameter of the grabbing mechanism is used to control the movement of the mechanical arm, so that the mechanical arm is directly above the placement position of the to-be-processed object in the to-be-palletized area, and the distance between the mechanical arm and the placement position of the to-be-processed object in the to-be-palletized area is within a second preset distance.

It should be noted that the second preset distance is also set by the technician according to a plurality of experiments, and may be set to 20 cm, for example.

Step S34: and placing the to-be-processed object sucked by the sucking disc at a placing position of a to-be-palletized area.

In the embodiment of the invention, the grabbing mechanism is controlled to grab the object to be processed based on the first operating parameter, and the object to be processed is placed at the placing position of the stacking area based on the second operating parameter. In the scheme, the specific track moved by the carrying robot and the specific position fixed by the palletizing robot do not need to be adjusted manually, and the moving track and the palletizing position of the executing mechanism can be directly determined according to the received position of the executing mechanism, the position of an unstacking area, the position of an area to be palletized, the space parameter, the object parameter, the distance parameter, the weight parameter and the preset placing rule, so that the logistics processing efficiency is improved.

Based on the logistics processing method shown in the above embodiment of the invention, in the process that the controller controls the motion mechanism to move along the movement track based on the navigation sensor, as shown in fig. 6, the method further includes the following steps:

step S601: and determining whether the barrier information sent by the RGB-D camera is received, if so, executing step S602, and if not, continuing to control the execution mechanism to move according to the movement track obtained by the simulation.

In step S601, the obstacle information includes a distance between the actuator and the obstacle.

In the process of specifically implementing the step S601, in the process of moving the execution mechanism along the first movement track, it is determined whether obstacle information sent by the RGB-D camera is received, if so, it indicates that an obstacle exists in the process of moving the execution mechanism along the first movement track, and step S602 is executed, if not, it indicates that an obstacle does not exist in the process of moving the execution mechanism along the first movement track, and the execution mechanism is continuously controlled to move according to the first movement track obtained by the simulation.

Optionally, in the process of controlling the servo motor to move along the third moving track based on the navigation sensor, whether obstacle information sent by the RGB-D camera is received is determined, if yes, it is described that an obstacle exists in the process of controlling the servo motor to move along the third moving track based on the navigation sensor, and step S602 is executed, if no, it is described that an obstacle does not exist in the process of controlling the servo motor to move along the third moving track based on the navigation sensor, and the execution mechanism continues to be controlled to move according to the third moving track obtained through simulation.

Step S602: and judging whether the distance between the executing mechanism and the obstacle is greater than or equal to a preset safety distance or not, if so, executing the step S603, and if not, continuously controlling the executing mechanism to move according to the movement track obtained by simulation.

In the process of specifically implementing step S602, in order to determine whether an obstacle affects the movement of the actuator, it is required to detect whether the distance between the actuator and the obstacle is greater than or equal to a preset safety distance, if so, it is described that the obstacle affects the movement of the actuator, and step S503 is executed, and if not, it is described that the obstacle does not affect the movement of the actuator, the actuator is continuously controlled to move according to the movement trajectory obtained by the simulation.

The preset safety distance is set by a technician according to the size of the actuator.

Step S603: and controlling the actuating mechanism to stop moving, and carrying out simulation calculation according to the obstacle information, the position of the actuating mechanism, the position of the area to be stacked, the space parameter of the area to be stacked, the object parameter, the distance parameter, the weight parameter and a preset placing rule to determine a new moving track of the actuating mechanism.

In the process of specifically implementing the step S603, the actuator is controlled to stop moving, the current position of the actuator is determined according to the navigation system, and if the current position of the actuator is a certain point on the first movement track, a simulation calculation is performed by using a simulation algorithm based on the obstacle information, the current position of the actuator and the position of the area to be palletized, so as to determine a new first movement track of the actuator.

And if the position of the current executing mechanism is a certain point on the second moving track, performing simulation calculation by using a simulation algorithm based on the barrier information, the space parameters, the object parameters, the weight parameters and the preset placing rules of the area to be stacked at the position of the current executing mechanism, and determining the new second moving track of the executing mechanism.

Optionally, if the position of the current executing mechanism is a certain point on the third moving track, simulation calculation is performed by using a simulation algorithm based on the obstacle information, the position of the current executing mechanism and the position of the area to be palletized, and a new third moving track of the executing mechanism is determined.

In the embodiment of the invention, whether the obstacle exists in the process of moving along the moving track based on the motion of the executing mechanism is determined, so that the executing mechanism can avoid the obstacle, the logistics processing process is more intelligent, and the logistics processing efficiency is improved.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. 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.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A logistics apparatus, characterized in that the logistics apparatus comprises: a controller and an actuator;

2. The logistics apparatus of claim 1, wherein the movement track of the actuator comprises a first movement track and a second movement track, and the controller, which is configured to determine the movement track of the actuator, the operation parameter of the gripping mechanism and the placement position of the object to be processed in the area to be palletized, according to the position of the actuator, the position of the area not to be palletized, the position of the area to be palletized, the spatial parameter of the area to be palletized, the parameter of the object, the distance parameter, the weight parameter and a preset placement rule, is specifically configured to:

3. The logistics apparatus of claim 2, wherein the operation mechanism comprises a servo motor, and the controller for controlling the movement mechanism to move along the movement track based on the navigation sensor is specifically configured to:

4. The logistics apparatus of claim 2, wherein the gripping mechanism comprises a mechanical arm and a suction cup, wherein the gripping end of the mechanical arm is connected with the suction cup; the controller for controlling the grabbing mechanism to grab and place the object to be processed at the placing position of the area to be stacked based on the operating parameters is specifically configured to:

5. The logistics apparatus of claim 1 wherein the RGB-D camera is further configured to obtain obstacle information of a direction of travel of the actuator.

6. The logistics apparatus of claim 5 wherein the controller is further configured to:

7. The logistics apparatus of claim 1 wherein the controller is further configured to:

8. The logistics apparatus of claim 1, further comprising: a remote control handle device;

9. A method for processing a material flow, the method comprising:

10. The method of claim 9, further comprising: and when the space parameter of the area to be stacked is determined to be smaller than the space parameter of a preset stacking area, controlling the actuating mechanism to stop stacking and moving to the preset standby area.