CN112091933B - Container holding robot and holding method thereof - Google Patents
Container holding robot and holding method thereof Download PDFInfo
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- CN112091933B CN112091933B CN202011024805.1A CN202011024805A CN112091933B CN 112091933 B CN112091933 B CN 112091933B CN 202011024805 A CN202011024805 A CN 202011024805A CN 112091933 B CN112091933 B CN 112091933B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
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Abstract
The utility model provides a packing box embraces gets robot and embraces method of getting thereof, wherein, this packing box embraces and gets robot includes treater, running gear, positioning mechanism and actuating mechanism, wherein: the processor is used for receiving a container holding instruction comprising first distance information and first position information, determining telescopic distance adjustment information according to the first position information and the second position information and determining second distance information; the traveling mechanism is used for moving to a second position; the positioning mechanism is used for acquiring second position information; and the executing mechanism is arranged to execute the container holding operation under the control of the processor. According to the container holding and taking method and device, the telescopic distance adjusting information is determined through the robot according to the first position information and the second position information, the second distance information is further determined according to the telescopic adjusting information and the first distance information, container holding and taking operations are executed according to the second distance information, and the fault tolerance rate and flexibility of container holding and taking are improved.
Description
Technical Field
The disclosure relates to the technical field of computers, in particular to a container holding robot and a holding method thereof.
Background
At present, in the smart storage system, a method for carrying the containers by using a container robot is quite common. The container robot receives a container carrying instruction of the background and moves the container carrying instruction to the specified position of the goods shelf, after the container robot reaches the specified position, the container robot stretches the telescopic fork to the position of the container, and the container is placed in the fixed baffle to complete the holding, taking and carrying of the container.
When the existing container robot takes a container, the extending distance of the telescopic fork is fixed under the common condition, the container is often taken by manual intervention under the condition that the container is not placed strictly, and otherwise, the container or the robot is damaged. In addition, when the robot carries out the container holding operation, certain deviation may exist between the reached target position and the ideal container holding position due to the existence of motion errors, so that the problem of failure in holding the container is caused, and the success rate and flexibility of the container holding operation are reduced under the above conditions.
Disclosure of Invention
The embodiment of the disclosure at least provides a container holding robot and a holding method thereof.
In a first aspect, the embodiment of the present disclosure provides a container embracing robot, which is characterized by comprising a processor, a traveling mechanism, a positioning mechanism and an executing mechanism, wherein:
the processor is configured to receive a container holding instruction, and the container holding instruction comprises first distance information and first position information; determining telescopic distance adjustment information according to the first position information and the second position information, and determining second distance information according to the telescopic distance adjustment information and the first distance information;
the travelling mechanism is used for moving to a second position according to the container holding instruction under the control of the processor;
the positioning mechanism is used for acquiring second position information under the condition that the walking mechanism is determined to move to a second position under the control of the processor;
and the executing mechanism is arranged to extend out corresponding distance according to the second distance information and execute the container holding operation under the control of the processor.
In one possible embodiment, the actuator comprises a telescoping mechanism, a finger-dialing mechanism, and a sensor, wherein:
the telescopic mechanism is used for extending out a corresponding distance according to the second distance information under the control of the processor;
the shifting finger mechanism is used for falling under the control of the processor under the condition that the telescopic mechanism is determined to extend out of a corresponding distance, and carrying out container holding operation;
the sensor is used for detecting whether shielding exists or not in the extending process of the telescopic mechanism and sending state change indication information to the processor according to the detection result;
and the processor is also used for judging whether to control the finger shifting mechanism to fall down to execute the container holding operation or not according to the actual telescopic distance of the telescopic mechanism and the state change indication information.
In a possible embodiment, the processor is specifically configured to, when the actual telescopic distance of the telescopic mechanism is less than or equal to the second distance information, determine that the state of the sensor changes from the non-shielding state to the shielding state according to the state change indication information, and then change from the shielding state to the non-shielding state, control the telescopic mechanism to stop extending, and control the finger mechanism to fall down to perform the container embracing operation.
In a possible implementation manner, the processor is specifically configured to, when the actual telescopic distance of the telescopic mechanism is equal to the second distance information, determine that the state of the sensor changes from the non-shielding state to the shielding state according to the state change indication information, control the telescopic mechanism to continue to extend the corresponding distance according to a preset step distance until it is determined that the state of the sensor changes to the non-shielding state according to the state change indication information, and control the finger-dialing mechanism to drop to perform the container holding operation.
In one possible embodiment, the sensor is arranged at the front end of the telescopic mechanism and behind the finger-dialing mechanism.
In a possible embodiment, the processor is specifically configured to determine, according to the first location information and the second location information, a deviation distance and an offset angle between the first location and the second location; and determining telescopic distance adjustment information according to the deviation distance and the offset angle.
In a second aspect, the disclosed embodiment provides a container holding method, which is characterized by including:
receiving a container holding instruction, wherein the container holding instruction carries first distance information and first position information;
after the container holding instruction is moved to a second position, the second position is positioned and second position information is obtained;
determining telescopic distance adjustment information according to the first position information and the second position information;
determining second distance information according to the telescopic distance adjustment information and the first distance information;
and stretching out the corresponding distance according to the second distance information to perform container holding and taking operation.
In a possible implementation manner, during the process of performing the container picking operation by extending the corresponding distance according to the second distance information, the method further includes:
receiving state change indication information of a sensor;
and judging whether to execute the container holding operation or not according to the actual telescopic distance and the state change indication information.
In a possible implementation manner, judging whether to execute a container holding operation according to the actual telescopic distance and the state change indication information specifically includes:
and under the condition that the actual telescopic distance is smaller than or equal to the second distance information, judging that the state of the sensor is changed from a non-shielding state to a shielding state according to the state change indication information, and then changing from the shielding state to the non-shielding state, stopping extending, and executing the container holding operation.
In a possible implementation manner, judging whether to execute a container holding operation according to the actual telescopic distance and the state change indication information specifically includes:
and under the condition that the actual telescopic distance is equal to the second distance information, judging that the state of the sensor is changed from a non-shielding state to a shielding state according to the state change indication information, continuing extending the corresponding distance according to a preset step distance until the state of the sensor is judged to be changed into the non-shielding state according to the state change indication information, and executing the container holding and taking operation.
In one possible implementation, determining the telescopic distance adjustment information according to the first location information and the second location information includes:
determining a deviation distance and a deviation angle between the first position and the second position according to the first position information and the second position information;
and determining telescopic distance adjustment information according to the deviation distance and the offset angle.
For the description of the effect of the container holding method, reference is made to the description of the container holding robot, and details are not repeated here.
The container holding robot and the container holding method provided by the embodiment of the disclosure move to the second position and acquire the second position information according to the received container holding instruction carrying the first distance information and the first position information, determine the telescopic distance adjustment information according to the first position information and the second position information, further determine the second distance information according to the telescopic adjustment information and the first distance information and execute container holding operation according to the second distance information, avoid the problem of container holding failure caused by motion errors of the robot, and improve the fault tolerance and flexibility of container holding.
Further, the container embracing and taking robot and the container embracing and taking method thereof provided by the embodiment of the disclosure can also control the actual telescopic distance by using the state change of the sensor in the process of extending the corresponding distance according to the second distance information, and control the lifting of the finger shifting mechanism to carry out the container embracing and taking operation according to the change state of the sensor, so that the problem of container embracing and taking failure caused by the fact that the container is not strictly placed is avoided, the control precision and success rate of container embracing and taking are further improved, and the capacity of the container embracing and taking robot for dealing with abnormal conditions in the process is improved.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly described below, and the drawings herein incorporated in and forming a part of the specification illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the technical solutions of the present disclosure. It is appreciated that the following drawings depict only certain embodiments of the disclosure and are therefore not to be considered limiting of its scope, for those skilled in the art will be able to derive additional related drawings therefrom without the benefit of the inventive faculty.
Fig. 1 shows a mechanism schematic diagram of a container picking robot provided by an embodiment of the present disclosure;
fig. 2a shows a flowchart of a container picking method provided by an embodiment of the present disclosure;
FIG. 2b shows a schematic diagram of a multi-box robot provided by embodiments of the present disclosure;
FIG. 2c is a schematic diagram illustrating position location using an X-Y global coordinate system provided by an embodiment of the present disclosure;
fig. 3a is a flowchart illustrating another implementation of a method for performing container pickup in combination with sensor state change information according to an embodiment of the present disclosure;
FIG. 3b is a schematic diagram illustrating a telescopic structure of a multi-box robot provided by an embodiment of the present disclosure;
fig. 4 illustrates a schematic diagram of a computing device provided by an embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, not all of the embodiments. The components of embodiments of the present disclosure, as generally described and illustrated herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present disclosure is not intended to limit the scope of the disclosure, as claimed, but is merely representative of selected embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the disclosure without making creative efforts, shall fall within the protection scope of the disclosure.
Furthermore, the terms "first," "second," and the like in the description and claims of the embodiments of the disclosure and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be implemented in other sequences than those illustrated or described herein.
Reference herein to "a plurality or a number" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Research shows that when the container robot carries out container holding and taking operation, certain deviation may exist between the second position moved according to the path planning information and the first position of the ideal container holding and taking due to the existence of motion errors, and under the condition, the problem that container holding and taking fails can be caused when the robot still carries out the container holding and taking operation according to the first distance information issued by the control server.
Based on the research, the disclosure provides a container embracing and taking robot and a container embracing and taking method thereof, the container embracing and taking robot is moved to a second position and obtains second position information according to a received container embracing and taking instruction carrying first distance information and first position information, telescopic distance adjusting information is determined according to the first position information and the second position information, the second distance information is further determined according to the telescopic adjusting information and the first distance information, and container embracing and taking operation is executed according to the second distance information, so that the problem of container embracing and taking failure caused by motion errors of the robot is solved, and the fault tolerance and flexibility of container embracing and taking are improved.
The above-mentioned drawbacks are the results of the inventor after practical and careful study, and therefore, the discovery process of the above-mentioned problems and the solutions proposed by the present disclosure to the above-mentioned problems should be the contribution of the inventor in the process of the present disclosure.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Example one
In order to facilitate understanding of the embodiment, a detailed description is first given of the container carrying and fetching robot disclosed in the embodiment of the present disclosure, and an execution main body of the container carrying and fetching robot provided in the embodiment of the present disclosure is generally a robot device with certain computing capability. In some possible implementations, the container holding robot may implement the container holding operation by a processor calling computer readable instructions stored in a memory.
As shown in fig. 1, a mechanism schematic diagram of a container picking robot provided in the embodiment of the present disclosure includes a processor 11, a traveling mechanism 12, a positioning mechanism 13, and an executing mechanism 14, where:
the processor 11 is configured to receive a container holding instruction, and the container holding instruction includes first distance information and first position information; and determining telescopic distance adjustment information according to the first position information and the second position information, and determining second distance information according to the telescopic distance adjustment information and the first distance information.
In specific implementation, the background control server determines, according to goods shelf position information and goods location information of a goods shelf where a goods box to be taken in the goods shelf is located in the goods box taking request, first position information when the robot performs the goods box taking, and first distance information that the execution mechanism 14 needs to stretch when the robot performs the goods box taking at the first position, generates a goods box taking instruction, and sends the goods box taking instruction to the goods box taking robot when receiving the goods box taking request sent by the upstream system. Further, the processor 11 of the container holding robot receives a container holding instruction sent by the server.
And the travelling mechanism 12 is used for moving to the second position according to the container holding instruction under the control of the processor 11.
In specific implementation, the processor 11 of the container holding robot controls the traveling mechanism 12 to move according to the first position information carried in the received container holding instruction, and it should be noted that, since the traveling mechanism 12 may have a motion error during traveling, the traveling mechanism 12 may move to the second position.
And a positioning mechanism 13 for acquiring the second position information when the traveling mechanism 12 is determined to move to the second position under the control of the processor 11.
In specific implementation, the processor 11 controls the positioning mechanism 13 to position the second position and acquire the position information of the second position when determining that the traveling mechanism 12 moves to the second position. Further, after acquiring the position information of the second position, the processor 11 determines a deviation distance and an offset angle between the two positions according to the first position information in the received container holding instruction and the acquired second position information, and further determines telescopic distance adjustment information of the container holding robot according to the determined deviation distance and offset angle. Based on the above, the processor 11 calculates new second distance information for the executing mechanism to execute the container holding operation according to the telescopic distance adjustment information and the first distance information in the container holding instruction.
And the executing mechanism 14 is configured to extend the corresponding distance according to the second distance information and execute the container holding operation under the control of the processor 11.
In a specific implementation, the actuator 14 includes a telescopic mechanism 141 capable of extending and retracting, a finger mechanism 142 for fixing the position of the container to take the container, and a sensor 143 for detecting the position of the container during carrying the container, where the telescopic mechanism 141 is specifically configured to extend a corresponding distance at a second position according to second distance information calculated by the processor 11 for taking the container, the sensor 143 is disposed at a front end of the telescopic mechanism 141 and behind the finger mechanism 142, and is specifically configured to detect whether there is a container blockage in the middle of the telescopic mechanism 141 during extending the corresponding distance of the telescopic mechanism 141, if there is a container blockage in the middle of the telescopic mechanism 141, the state of the sensor is changed to a blocked state, if there is no container blockage in the middle of the telescopic mechanism 141, the state of the sensor is changed to a non-blocked state, and the sensor 143 generates state change indicating information according to the result of the detection and transmits it to the processor 11.
Based on this, the processor 11 determines whether to control the dropping of the finger mechanism 142 and execute the cargo box holding operation based on the received state change instruction information and the actual extension/retraction distance executed by the extension/retraction mechanism 141 during the extension/retraction process. In one embodiment, the processor 11 is specifically configured to, in a case that the actual telescopic distance of the telescopic mechanism 141 is less than or equal to the calculated second distance information, if the received state change indication information sent by the sensor 143 determines that the state information of the sensor 143 changes from the non-shielding state to the shielding state, which indicates that the container has entered the telescopic mechanism 141 but has not entered the telescopic mechanism 141 completely, at this time, the telescopic mechanism still needs to be extended and retracted continuously to ensure that the container has entered completely and the container or the telescopic mechanism 141 is not damaged during the process of carrying the container, when the processor 11 determines that the state information of the sensor 143 changes from the shielding state to the non-shielding state according to the state change indication information, which indicates that the container has entered completely, no matter whether the telescopic distance of the telescopic mechanism 141 is less than the second distance information or is exactly equal to the second distance information, the container can be normally taken without being stretched and retracted, and the container or the telescopic mechanism 141 is not damaged, the processor 11 controls the telescopic mechanism 141 to stop stretching and retracting, and controls the finger mechanism 142 to fall down to perform the container taking operation.
In another embodiment, the processor 11 is specifically configured to, if the received status change indication information sent by the sensor 143 determines that the status information of the sensor 143 changes from the non-blocking status to the blocking status and does not determine that the status information of the sensor 143 changes, indicating that the container has entered the telescoping mechanism 141 but has not entered the telescoping mechanism 141 completely, at this time, the telescoping mechanism 141 needs to continue to telescope to ensure that the container has entered completely and the container or the telescoping mechanism 141 is not damaged during the process of picking up the container, at this time, the telescoping distance of the telescoping mechanism 141 has reached the calculated second distance information, which indicates that there may be an error after the calculated second distance information is still caused by the irregular placement of the container, therefore, the processor 11 controls the telescoping mechanism 141 to extend a corresponding distance according to the preset step distance, it should be noted that the magnitude of the preset step is far smaller than the magnitude of the distance in the first distance information and the second distance information, and the preset step has the meaning that the telescoping distance of the telescoping mechanism 141 is finely adjusted to perform the container holding operation. Based on this, until the processor 11 determines that the state change of the sensor 143 is the non-blocking state according to the received state change indication information, it indicates that the container has completely entered the telescoping mechanism, and at this time, the container carrying operation is performed without causing damage to the container or the telescoping mechanism 141, and the finger-shifting mechanism 142 is controlled to fall down to perform the container carrying operation.
Based on this, the finger-moving mechanism 142 is specifically configured to determine, under the control of the processor 11, that the telescopic mechanism falls down when the actual telescopic distance is completed under the control of the processor 11 according to the second distance information and the state change indication information of the sensor, and perform the cargo box holding operation.
The embodiment of the disclosure provides a container holding and taking robot which determines telescopic distance adjustment information according to a second position to which the container is moved and a first position where the container is held and taken under the control of a processor, calculates new second distance information of the container to be held and taken according to the determined telescopic distance adjustment information and the first distance information of the container to be held and taken, controls the actual telescopic distance of a telescopic mechanism to execute container holding and taking operation according to the second distance information and state change indication information of a sensor, and improves the flexibility and the efficiency of container holding and taking.
Example two
Based on the cargo box holding robot provided in the foregoing embodiment, the cargo box holding method provided in the embodiment of the present disclosure is described below by taking an execution subject as a robot device as an example, so as to facilitate understanding of the embodiment. In addition, the container holding and taking method provided by the embodiment of the disclosure is suitable for a single-container robot or a multi-container robot to perform container holding and taking operation, and is particularly suitable for a multi-container robot to perform container holding and taking operation.
Referring to fig. 2a, a flowchart of a container picking method provided for the embodiment of the present disclosure may include the following steps:
s201: receiving a container holding instruction, wherein the container holding instruction carries first distance information and first position information.
During specific implementation, the background control server determines the robot for holding the packing box under the condition of receiving a packing box holding request sent by an upstream system, determines the robot for carrying out packing box holding according to the goods shelf position information and the goods position information of a goods shelf where the packing box to be held is located, first position information when carrying out packing box holding and taking and first distance information when an executing mechanism of the robot needs to stretch when carrying out packing box holding and taking operation at a first position, generates a packing box holding and taking instruction and sends the packing box holding and taking instruction to the packing box holding and taking robot.
Taking the case that the multiple-box robot receives the container holding instruction as an example, as shown in fig. 2b, the container holding instruction is a schematic diagram of the multiple-box robot, and in specific implementation, the container holding instruction received by the multiple-box robot carries first position information and first distance information L for holding the container, where the first distance information L is a distance that a telescopic mechanism needs to stretch when the container robot holds the container under ideal conditions.
S202: and after the container holding instruction is moved to the second position, the second position is positioned and second position information is obtained.
During specific implementation, the robot responds to the container embracing instruction, and preferably moves to the second position according to the received container embracing instruction, and as the container robot possibly has a motion error in the motion process, certain deviation may exist between the second position reached by the robot and the first position information carried in the received container embracing instruction.
Furthermore, after the robot moves to a second position according to the received container holding instruction, the robot calls a positioning mechanism of the robot to position the reached second position, and second position information is obtained.
In an embodiment, the manner in which the robot acquires the second position information may be described by using a global coordinate system shown in fig. 2c, where point a is the second position where the robot is currently located, point B is the center position of the two-dimensional code, that is, the center of the first position, and the Y-axis direction is the direction in which the head of the robot is located.
S203: and determining telescopic distance adjustment information according to the first position information and the second position information.
In the step, the robot determines the offset distance and the offset angle between the first position and the second position according to the acquired second position information and the first position information carried in the container holding instruction; the telescopic distance adjustment information Δ is further determined based on the offset distance and the offset angle between the first position and the second position. In fig. 2c, the distance d between AB is the deviation distance between the center of the first position and the second position, and the included angle β is the offset angle between the center of the first position and the second position.
S204: and determining second distance information according to the telescopic distance adjustment information and the first distance information.
During specific implementation, the robot determines second distance information L + delta according to the determined telescopic distance adjustment information delta and the first distance information carried in the received container holding instruction, and controls the telescopic mechanism to stretch according to the second distance information L + delta. In fig. 2c, the distance between the ACs is the determined second distance information.
It should be understood that, in specific implementation, if the second location where the robot is located is closer to the shelf than the first location, i.e., the two-dimensional code location, Δ is a negative value, the determined second distance information L + Δ is smaller than the first distance information L, and if the second location where the robot is located is farther from the shelf than the first location, i.e., the two-dimensional code location, Δ is a positive value, and the determined second distance information L + Δ is larger than the first distance information L.
S205: and stretching out the corresponding distance according to the second distance information to execute the container holding operation.
During specific implementation, the robot controls the telescopic structure to extend out of the corresponding distance according to the determined second distance information, and the shifting finger mechanism falls down to execute the container holding operation.
In the process, in order to avoid the problem that the container is taken and fails because the robot takes and takes according to the deviation between the second position that the received container is taken and the first position, in the container taking method provided by the embodiment of the disclosure, after the robot reaches the second position, the self positioning information is obtained, the dynamic telescopic distance adjustment information is determined according to the self positioning information and the first position information, the telescopic mechanism is controlled to stretch according to the telescopic distance adjustment information to complete the container taking and taking operation, so that the deviation between the second position and the first position is eliminated, and the success rate of container taking and taking is improved.
EXAMPLE III
Although the robot in the above-mentioned disclosed embodiment controls the telescopic mechanism to extend out of the corresponding distance according to the determined second distance information to perform the container holding and taking operation, although the problem of failure in container holding and taking due to motion errors of the robot may be reduced, in some application scenarios, because the container is not placed strictly, for example, the container is placed too close to the outer side or the inner side of the cargo space, the robot controls the telescopic mechanism to perform the container holding and taking operation according to the determined second distance information, and the container holding and taking still may be failed. In order to further improve the control precision of the robot when the robot performs the container holding operation, another container holding method is further provided in the embodiment of the present disclosure, in the process of performing the container holding operation by controlling the telescopic mechanism to extend out of the corresponding distance according to the determined second distance information, and dynamically determining whether the finger-dialing mechanism falls down to perform the container holding operation by combining the state change of the sensor installed on the telescopic structure, as shown in fig. 3a, the method may include the following steps:
s301: and receiving a container holding instruction.
In the step, the robot receives a container holding instruction carrying first distance information L and first position information from the background control server, and moves to a second position according to the container holding instruction, wherein the first position information corresponds to two-dimensional code center position information preset around the goods shelf.
S302: and after the container is moved to the second position according to the container holding instruction, positioning the second position and acquiring second position information.
S303: and determining telescopic distance adjustment information according to the first position information and the acquired second position information.
In the step, the robot determines the offset distance and the offset angle between the second position and the first position according to the acquired second position information and the first position information carried in the cargo box holding instruction, and further determines the telescopic distance adjustment information delta.
S304: and determining second distance information according to the telescopic distance adjustment information and the first distance information.
S305: and controlling the telescopic mechanism to extend and retract according to the second distance information.
S306: and receiving state change indication information sent by the sensor in the process of controlling the telescopic mechanism to extend out of the corresponding distance according to the second distance information.
During specific implementation, the sensor sets up at telescopic machanism's telescopic fork front end and is located the back of thumb mechanism, and correlation sensor changes sensor state information according to whether there is the packing box between the telescopic fork, if there is the packing box to shelter from between the telescopic fork mechanism, this state information change has the state of sheltering from, if there is not the packing box to shelter from between the telescopic fork mechanism, this state information change is no state of sheltering from, and at telescopic machanism carry out the in-process that stretches out and draws back, the robot receives the state change instruction information that correlation sensor sent.
As shown in fig. 3b, it is a schematic structural diagram of the telescopic mechanism 141 of the robot, and includes a backward mechanism 31, a finger-moving mechanism 142, a correlation sensor 143, and a telescopic fork 32, wherein the backward mechanism 31 of the single-box robot is controllable, and the backward mechanism 31 of the multi-box robot is fixed, and the finger-moving mechanism 142 is controllable, i.e. it can be controlled to fall or retract according to actual needs, regardless of the single-box robot or the multi-box robot. When the robot takes the container, the finger-shifting mechanism 142 is retracted, the telescopic forks 32 extend outward, and when the distance reaches the extension distance, the state of the correlation sensor 143 is detected to determine whether the telescopic forks 32 are shielded, and if the telescopic forks 32 are not shielded, the finger-shifting mechanism 142 is controlled to fall.
S307: and judging whether the finger shifting mechanism falls down to execute the container holding operation or not according to the actual telescopic distance and the state change indication information of the telescopic mechanism.
During the concrete implementation, at the in-process that telescopic machanism stretched out flexible fork and embraced the packing box, if the robot can be according to the sensor state change indicating information that receives and judge that the state change of sensor satisfies following process: the container is changed from the non-shielding state to the shielding state and then to the non-shielding state, so that the container completely enters the telescopic mechanism, and the finger-shifting mechanism can be dropped to carry out the container holding operation under the condition without damaging the container or the telescopic mechanism; otherwise, the container holding operation is executed after the telescopic distance of the telescopic mechanism is dynamically adjusted.
Based on this, the robot can judge whether the finger-moving mechanism falls down to execute the container holding operation according to the following procedures by combining the received state change indication information of the sensor in the process of controlling the telescopic mechanism to stretch according to the determined second distance information, and the method specifically comprises the following three conditions:
the first condition, if the actual telescopic distance at telescopic machanism is less than the condition of second distance information, the robot judges that the sensor state changes from the non-sheltering state to the sheltering state according to the received sensor state change indicating information, and then changes from the sheltering state to the non-sheltering state, after the robot judges that the sensor state changes to the non-sheltering state, although the actual telescopic distance of telescopic machanism has not reached the second distance information yet, because the sensor state becomes the non-sheltering state this moment, it shows that the packing box has been arranged in telescopic machanism completely, can carry out the packing box and embrace and get the operation and can not cause the damage of packing box or telescopic machanism. It should be noted that, this situation may be caused by the placement of the container being not strict, for example, the container is placed at an outer position of the rack, and at this time, the telescoping mechanism is controlled to stop extending, and the finger-pushing mechanism is controlled to fall down to perform the container holding operation.
In the second case, if the actual telescopic distance of the telescopic mechanism is equal to the first distance information, the robot judges that the sensor state changes from the non-shielding state to the shielding state according to the received sensor state change indication information, and then changes from the shielding state to the non-shielding state, which indicates that the container is completely placed in the telescopic mechanism at the moment and the actual telescopic distance of the telescopic mechanism is the same as the first distance information at the moment, the container holding operation can be executed without damaging the container or the telescopic mechanism. Further explaining that the placement of the container is strict at this time, the telescopic mechanism is controlled to stop extending out at this time, and the finger-shifting mechanism is controlled to fall down to execute the container holding operation.
In a third case, if the actual telescopic distance of the telescopic mechanism is equal to the first distance information, the robot determines that the state change of the sensor changes from the non-shielding state to the shielding state according to the received sensor state change indication information, and the state of the sensor is always the shielding state after the actual telescopic distance of the telescopic mechanism is equal to the second distance information, which indicates that the container is not completely placed in the telescopic mechanism at this time, which may also be caused by the case that the container is not placed strictly, for example, the container is placed in the inner position of the shelf, and at this time, if the finger-dialing mechanism is dropped, the container or the telescopic mechanism is damaged, so as to avoid the container or the telescopic mechanism being damaged, in the embodiment of the present disclosure, the telescopic mechanism may be controlled to continue to extend by a corresponding distance according to the preset step length distance until the robot determines that the state change of the sensor state is equal to the received sensor state change indication information, at the moment, the container holding operation is executed, the damage to the container or the telescopic mechanism cannot be caused, and the shifting finger mechanism is controlled to fall down to execute the container holding operation.
According to the container holding method provided by the second embodiment of the disclosure, the second distance information is determined according to the deviation distance and the deviation angle between the second position information and the first position information acquired by the robot, according to the determined second distance information, the telescopic mechanism is controlled to stretch and execute the container holding operation, so that the container holding accuracy and the container holding success rate are improved, during the process of carrying out the operation of holding and taking the goods box according to the determined second distance information, the telescopic distance of the telescopic structure can be dynamically adjusted by combining the change state information of the sensor, the damage to the container or the telescopic mechanism caused by the fact that the finger-dialing mechanism falls down when the sensor state is still in a shielding state after the actual telescopic distance of the telescopic structure reaches the determined second distance information is avoided, and the safety of carrying out the container holding operation is improved.
It will be understood by those skilled in the art that in the method of the present invention, the order of writing the steps does not imply a strict order of execution and any limitations on the implementation, and the specific order of execution of the steps should be determined by their function and possible inherent logic.
An embodiment of the present disclosure further provides a computing device, as shown in fig. 4, which is a schematic structural diagram of the computing device provided in the embodiment of the present disclosure, and includes:
a processor 41 and a memory 42; the memory 42 stores machine-readable instructions executable by the processor 41, the processor 41 being configured to execute the machine-readable instructions stored in the memory 42, the processor 41 performing the following steps when the machine-readable instructions are executed by the processor 41: step S201: receiving a container holding instruction, wherein the container holding instruction carries first distance information and first position information; s202: after the container is moved to a second position according to the container holding instruction, positioning the second position and acquiring second position information; step S203: determining telescopic distance adjustment information according to the first position information and the second position information; step S204: determining second distance information according to the telescopic distance adjustment information and the first distance information, and step S205: and stretching out the corresponding distance according to the second distance information to execute the container holding operation.
The storage 42 includes a memory 421 and an external storage 422; the memory 421 is also referred to as an internal memory, and temporarily stores operation data in the processor 41 and data exchanged with the external memory 422 such as a hard disk, and the processor 41 exchanges data with the external memory 422 via the memory 421.
The specific execution process of the instruction may refer to the steps of the container holding method in the embodiment of the present disclosure, and details are not described here.
The embodiment of the present disclosure further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the container holding method in the foregoing method embodiment are executed. The storage medium may be a volatile or non-volatile computer-readable storage medium.
The computer program product of the container holding and fetching method provided by the embodiment of the present disclosure includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the steps of the container holding and fetching method described in the above method embodiment, which may be referred to in the above method embodiment specifically, and are not described herein again.
The embodiments of the present disclosure also provide a computer program, which when executed by a processor implements any one of the methods of the foregoing embodiments. The computer program product may be embodied in hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied in a computer storage medium, and in another alternative embodiment, the computer program product is embodied in a Software product, such as a Software Development Kit (SDK), or the like.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. In the several embodiments provided in the present disclosure, it should be understood that the disclosed system, apparatus, and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and 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 of devices or units through some communication interfaces, 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 disclosure 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 functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computing device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present disclosure. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above-mentioned embodiments are merely specific embodiments of the present disclosure, which are used for illustrating the technical solutions of the present disclosure and not for limiting the same, and the scope of the present disclosure is not limited thereto, and although the present disclosure is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive of the technical solutions described in the foregoing embodiments or equivalent technical features thereof within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present disclosure, and should be construed as being included therein. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (11)
1. The utility model provides a packing box embraces gets robot which characterized in that, includes treater, running gear, positioning mechanism and actuating mechanism, wherein:
the processor is configured to receive a container holding instruction, and the container holding instruction comprises first distance information and first position information; determining telescopic distance adjustment information according to the first position information and the second position information, and determining second distance information according to the telescopic distance adjustment information and the first distance information; the first position information is used for representing an ideal first position to which the robot needs to move when the robot takes the goods box, and the second position information is used for representing a second position to which the robot actually moves when the robot takes the goods box;
the travelling mechanism is used for moving to a second position according to the container holding instruction under the control of the processor;
the positioning mechanism is used for acquiring second position information under the condition that the walking mechanism is determined to move to a second position under the control of the processor;
and the executing mechanism is arranged to extend out corresponding distance according to the second distance information and execute the container holding operation under the control of the processor.
2. The container picking robot of claim 1, wherein the actuator comprises a telescoping mechanism, a finger shifting mechanism and a sensor, wherein:
the telescopic mechanism is used for extending out a corresponding distance according to the second distance information under the control of the processor;
the shifting finger mechanism is used for falling under the control of the processor under the condition that the telescopic mechanism is determined to extend out of a corresponding distance, and carrying out container holding operation;
the sensor is used for detecting whether shielding exists or not in the extending process of the telescopic mechanism and sending state change indication information to the processor according to the detection result;
and the processor is also used for judging whether to control the finger shifting mechanism to fall down to execute the container holding operation or not according to the actual telescopic distance of the telescopic mechanism and the state change indication information.
3. The container pick robot of claim 2,
and the processor is specifically used for judging that the state of the sensor is changed from a non-shielding state to a shielding state according to the state change indication information under the condition that the actual telescopic distance of the telescopic mechanism is less than or equal to the second distance information, and controlling the telescopic mechanism to stop extending and controlling the shifting finger mechanism to fall down to execute the container embracing and taking operation if the state of the sensor is changed from the shielding state to the shielding state.
4. The container pick robot of claim 2,
the processor is specifically configured to, when the actual telescopic distance of the telescopic mechanism is equal to the second distance information, determine that the state of the sensor changes from a non-shielding state to a shielding state according to the state change indication information, control the telescopic mechanism to continue to extend a corresponding distance according to a preset step distance until the state of the sensor changes to the non-shielding state according to the state change indication information, and control the finger shifting mechanism to fall down to perform the container holding operation.
5. A container pick and place robot as claimed in claim 3 or claim 4, wherein the sensor is located at the front end of the telescoping mechanism and behind the finger mechanism.
6. A container pick-up robot as claimed in any one of claims 1 to 4,
the processor is specifically configured to determine a deviation distance and an offset angle between the first position and the second position according to the first position information and the second position information; and determining telescopic distance adjustment information according to the deviation distance and the deviation angle.
7. A container holding method is characterized by comprising the following steps:
receiving a container holding instruction, wherein the container holding instruction carries first distance information and first position information; the first position information is used for representing an ideal first position to which the robot needs to move when the robot takes the container;
after the container holding instruction is moved to a second position, the second position is positioned and second position information is obtained; the second position information is used for representing a second position to which the robot actually moves when holding the goods box;
determining telescopic distance adjustment information according to the first position information and the second position information;
determining second distance information according to the telescopic distance adjustment information and the first distance information;
and stretching out the corresponding distance according to the second distance information to perform container holding and taking operation.
8. The method of claim 7, wherein during the container picking operation performed by extending the corresponding distance according to the second distance information, further comprising:
receiving state change indication information of a sensor;
and judging whether to execute the container holding operation or not according to the actual telescopic distance and the state change indication information.
9. The method according to claim 8, wherein judging whether to execute the container holding operation according to the actual telescopic distance and the state change indication information specifically comprises:
and under the condition that the actual telescopic distance is smaller than or equal to the second distance information, judging that the state of the sensor is changed from a non-shielding state to a shielding state according to the state change indication information, and then changing from the shielding state to the non-shielding state, stopping extending, and executing the container holding operation.
10. The method according to claim 8, wherein judging whether to execute the container holding operation according to the actual telescopic distance and the state change indication information specifically comprises:
and under the condition that the actual telescopic distance is equal to the second distance information, judging that the state of the sensor is changed from a non-shielding state to a shielding state according to the state change indication information, continuing extending the corresponding distance according to a preset step distance until the state of the sensor is judged to be changed into the non-shielding state according to the state change indication information, and executing the container holding and taking operation.
11. The method of any of claims 7-10, wherein determining scaling distance adjustment information based on the first location information and the second location information comprises:
determining a deviation distance and a deviation angle between the first position and the second position according to the first position information and the second position information;
and determining telescopic distance adjustment information according to the deviation distance and the offset angle.
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| CN112830237A (en) * | 2021-01-13 | 2021-05-25 | 广东智源机器人科技有限公司 | Movement control method, device, equipment and cooking system |
| CN113664848A (en) * | 2021-08-27 | 2021-11-19 | 沈阳吕尚科技有限公司 | Inspection robot and working method thereof |
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