CN112388639B - Article taking and placing system, method, control device, robot device and storage medium - Google Patents
Article taking and placing system, method, control device, robot device and storage medium Download PDFInfo
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- CN112388639B CN112388639B CN202011269658.4A CN202011269658A CN112388639B CN 112388639 B CN112388639 B CN 112388639B CN 202011269658 A CN202011269658 A CN 202011269658A CN 112388639 B CN112388639 B CN 112388639B
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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Abstract
The application provides an article taking and placing system, a method, a control device, a robot device and a storage medium, which comprise one or more types of articles to be stored, wherein each article in each type of articles to be stored is provided with an article coding signal emitter; one or more containing devices, each containing device is provided with a containing coded signal emitter and a unique storage identifier for containing the corresponding category of articles to be contained; the control equipment is used for reading and displaying the state information of each article to be stored and each storage device, and inputting and realizing instruction operation and/or preset operation on the robot equipment; and the robot equipment is in communication connection with the control equipment and is used for putting/taking the articles to be received into/out of the corresponding receiving devices according to preset rules and/or operation instructions issued by the control equipment. Through the mode that sets up coding signal transmitter on waiting to receive article and storage device, utilize robot equipment to in time accomodate article, improve article management efficiency and practice thrift a large amount of resources.
Description
Technical Field
The present disclosure relates to the technical field of article positioning and picking, and in particular, to an article picking and placing system, method, control device, robot device, and storage medium.
Background
With the continuous improvement of living standard, people have more and more articles. However, some articles are randomly placed after being used for several times because of temporary disuse, so that the articles are difficult to find when needing to be used; some articles are expensive but not commonly used, and the articles are forgotten to be stored at specific positions along with the lapse of time after being stored, so that the old and the people with inconvenient actions are inconvenient to store and obtain, and the situations generate great troubles and inconvenience for the article owners.
Except that appear article in the management at home and be difficult to in time accomodate and lead to looking for inconveniently, in public places such as company, laboratory, library, asylum for the aged, hospital ward or market, also often meet similar condition, people spend a large amount of time on the location and the playback to article such as data, experimental materials, books, a large amount of resources have been wasted, inconvenient problem when also having brought old person and the inconvenient people of action to accomodate and obtain the action.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present application is to provide an article taking and placing system, method, control device, robot device and storage medium, which are used to solve the problem of inconvenient searching caused by the difficulty in timely storing articles in the prior art.
To achieve the above and other related objects, a first aspect of the present application provides a robot-based article picking and placing system comprising: one or more types of articles to be accommodated, wherein each article in each type of article to be accommodated is provided with an article coding signal transmitter; one or more containing devices, each containing device is provided with a containing coded signal emitter and a unique storage identifier for containing the corresponding category of articles to be contained; the control equipment is used for reading and displaying the state information of each article to be stored and each storage device, and inputting and realizing instruction operation and/or preset operation on the robot equipment; and the robot equipment is in communication connection with the control equipment and is used for putting/taking the articles to be received into/out of the corresponding receiving devices according to preset rules and/or operation instructions issued by the control equipment.
In some embodiments of the first aspect of the present application, the status information of the article to be received includes: category information of an article to be received, state information of the coded signal emitter and current receiving state information; the state information of the storage device includes: the information processing device comprises position information of the containing device, currently contained capacity information, currently contained content information, and information of articles which are supposed to be contained in the containing device but are not currently in the range of the containing device.
In some embodiments of the first aspect of the present application, the robot apparatus puts/takes out an article to be received into/from a corresponding receiving device according to a preset rule, and includes: and the robot equipment puts the articles to be received which are not in the receiving devices into the corresponding receiving devices within a preset operation time period.
In some embodiments of the first aspect of the present application, the robot apparatus puts/takes out an article to be received into/from a corresponding receiving device according to a preset rule, and includes: the robot equipment reads the state information of the coded signal emitter of each article to be stored from the control equipment, and puts the articles which are in the closed state and are not in the storage devices into the corresponding storage devices; wherein the state of the coded signal transmitter comprises an on state and an off state; the opening state corresponds to that the article to be received is not in the receiving device and is not used completely; the closed state corresponds to the article to be received being in the storage device or to the article to be received not being in the storage device and having been used up.
In some embodiments of the first aspect of the present application, the robot apparatus puts/takes out an article to be received into/from a corresponding receiving apparatus according to an operation instruction issued by a control apparatus, and includes: the control equipment issues a one-key storage operation instruction to enable the robot equipment to place all articles to be stored which are not in the storage device into the corresponding storage device; and/or the control equipment issues a one-key taking-out operation instruction to enable the robot equipment to take out the currently required articles; the one-key taking-out mode comprises the step of taking out the currently required article from the storage device, or the step of integrally moving the storage device where the currently required article is located.
In some embodiments of the first aspect of the present application, the robot apparatus puts/takes out an article to be received into/from a corresponding receiving apparatus according to an operation instruction issued by a control apparatus, and includes: and the control equipment issues an operation instruction so as to enable the robot equipment to execute corresponding putting-in/taking-out actions at a preset time.
In some embodiments of the first aspect of the present application, when the robot device is positioned to an article to be received but cannot perform a pick-and-place operation, the position information of the article is stored and then transmitted to the control device; wherein, the condition that robot equipment can not carry out getting and putting operation includes at least: beyond the operating distance of the robotic device, too narrow a passageway, or unusual operation.
In some embodiments of the first aspect of the present application, the robot device determines an article that is not currently in the storage apparatus but cannot detect the article encoding signal transmitter as a lost article, and automatically performs a task of finding the lost article each time the operation is opened later.
In some embodiments of the first aspect of the present application, the control device statistically analyzes the placement positions of the articles to be stored when the articles to be stored are stored, and arranges the multiple placement positions corresponding to each article to be stored in descending order or ascending order according to the frequency, so that when the article coding signal transmitter fails to work, the article can be searched in descending order or ascending order according to the frequency of the placement positions.
In order to achieve the above and other related objects, a second aspect of the present application provides an article picking and placing method applied to a control device; the method comprises the following steps: reading and displaying state information of one or more types of articles to be received and the receiving device; and issuing an operation instruction to the robot equipment so as to enable the robot equipment to put/take the article to be received into/out of the corresponding receiving device according to the operation instruction or a preset rule.
In order to achieve the above and other related objects, a third aspect of the present application provides an article picking and placing method applied to a robot apparatus; the method comprises the following steps: receiving an operation instruction; and putting/taking the articles to be received into/out of the corresponding receiving devices according to preset rules or received operation instructions.
To achieve the above and other related objects, a fourth aspect of the present application provides a control apparatus having a computer program stored thereon, the computer program, when executed by a processor, implementing the article pick-and-place method.
To achieve the above and other related objects, a fifth aspect of the present application provides a robot apparatus including a moving platform, a robot arm, an end effector, and further including: a processor and a memory; the memory is used for storing computer programs, and the processor is used for executing the computer programs stored by the memory so as to enable the terminal to execute the article taking and placing method.
To achieve the above and other related objects, a sixth aspect of the present application provides a computer-readable storage medium having stored thereon a first computer program and/or a second computer program, the first computer program, when executed by a processor, implementing an article pick-and-place method applied to a control apparatus; the second computer program, when executed by the processor, implements an article pick and place method for use with a robotic device.
As described above, the article taking and placing system, the article taking and placing method, the control device, the robot device, and the storage medium according to the present application have the following advantageous effects: according to the invention, by arranging the coded signal transmitter on the article to be stored and the storage device, the article is stored in time by using the robot equipment without spending a large amount of time on the homing of the articles such as data, experimental materials or books, so that the article management efficiency is greatly improved and a large amount of resources are saved.
Drawings
Fig. 1 is a schematic structural diagram of a robot-based article handling system according to an embodiment of the present disclosure.
Fig. 2 is a schematic flow chart illustrating an article picking and placing method according to an embodiment of the present disclosure.
Fig. 3 is a schematic flow chart illustrating an article picking and placing method according to an embodiment of the present disclosure.
Fig. 4 is a schematic structural diagram of a control device according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a robot apparatus according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It is noted that in the following description, reference is made to the accompanying drawings which illustrate several embodiments of the present application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "above," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," "retained," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention are further described in detail by the following embodiments in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
fig. 1 is a schematic structural diagram of a robot-based article picking and placing system according to an embodiment of the present invention. The article taking and placing system in the embodiment comprises one or more types of articles 11 to be received, one or more receiving devices 12, a control device 13 and a robot device 14. Each article in each type of article 11 to be stored is provided with an article coding signal transmitter 111; each containing device 12 is provided with a coded signal transmitter 121 and a unique storage identifier for containing the corresponding type of articles to be contained; the control device 13 is used for reading and displaying the state information of each article 11 to be stored and each storage device 12, and inputting and realizing instruction operation and/or preset operation on the robot device; the robot device 14 is in communication connection with the control device 13, and is configured to put/take out the article 11 to be received into/from the corresponding receiving device 12 according to a preset rule or an operation instruction issued by the control device.
In some examples, each article of each type of article 11 to be stored is provided with an article code signal transmitter 111, and the article code signal transmitter 111 can transmit respective confirmation code signals in a bluetooth manner, a WIFI manner, an NFC manner, or a light signal manner. The articles to be received 11 may be books a1 … … an, toys b1 … … bn, etc., for example, and the coded signal transmitter provided on each article to be received transmits a corresponding coded signal outwards, so that the articles whose original status information is unknown become known.
It should be noted that the categories of the articles to be received are multiple and diverse, and different categories of articles are generally set according to different environments. For example, the articles to be received in the home environment include, but are not limited to, books, toys, clothes, quilts, tableware, mobile phones, medicine boxes, and other common household articles; the articles to be received in the laboratory environment comprise but are not limited to measuring cups, beakers, test tubes, platform scales, filters and other laboratory common articles; articles to be received in the library environment include, but are not limited to, common articles in libraries such as various books, computer equipment and the like; items to be received in an office environment include, but are not limited to, documents, contracts, and the like; types of receiving devices include, but are not limited to: storage rack, storage cabinet, storage bag, file bag (box), experiment table, experiment rack, bookshelf, etc. The applications are more and complicated, so they are not listed.
In some examples, each storage device 12 has a storage code signal transmitter 121, and has a unique storage identifier for storing a corresponding category of articles to be stored, and the storage code signal transmitter 121 may transmit a respective confirmation code signal in a bluetooth, WIFI, NFC, or light signal manner. The storage devices 12 may be, for example, a book storage device a for storing books, a toy storage device B for storing toys, etc., and a storage coded signal transmitter provided on each storage device transmits a corresponding coded signal to the outside, so that the state information of the articles whose state information is unknown is known. The storage device 12 is provided with a unique storage identifier for identifying the corresponding type of article to be stored, for example, a book a1 … … an corresponds to the storage device a, and a toy B1 … … bn corresponds to the toy storage device B.
Preferably, for the convenience of installation and fixation, the coded signal emitter may take various forms of appearance shapes, such as a strip shape, a button shape, a column shape, and the like, and may also be designed into a sticker type, a clip type, a binder type, a folder type, a clip type, a nail type, an insert type, and the like, which is beneficial for the better fixation of the coded signal emitter on an article or a receiving device.
In some examples, the control device 13 may be a desktop computer, a notebook computer, a tablet computer, a smart phone, a smart bracelet, a smart watch, a smart helmet, a smart television, a Personal Digital Assistant (PDA), and the like, and is configured to read and display status information of each article to be stored 11 and each storage apparatus 12. The control device 13 can establish communication connection with each article code signal emitter and the storage code signal emitter through bluetooth, WIFI, NFC, or light signals, so as to read status information of each article and the storage device, and can also input various operation instructions to control the robot device to execute related instructions.
In some examples, the robot device 14 establishes a communication connection with the control device 13 by means of bluetooth, WIFI, NB-IOT, LORA, ZigBee, or the like, thereby reading status information of each article and storage device.
The robot device 14 in this embodiment includes at least an end effector for gripping an article, such as a vacuum chuck, a mechanical clamp type end effector, a permanent magnet adsorption type end effector, or an electromagnetic adsorption type end effector, and the embodiment is not limited thereto. Additionally, robotic devices include, but are not limited to: a multi-axis robot (e.g., an XYZ three-axis robot, a four-axis robot, a six-axis robot, or even an eight-axis robot) capable of realizing multiple degrees of freedom, a Scara robot having 3 rotational joints and capable of being applied to assembly work, or a Delta robot capable of realizing high-precision material picking, or the like; in fact, in practical application scenarios, any automation device capable of realizing the grabbing and transporting functions can be applied to the technical solution of the present invention.
Optionally, the status information of the article to be received includes but is not limited to: category information of the object to be received, state information of the coded signal emitter and current receiving state information. The category information of the article to be received mainly comprises article name information and article category information; the current storage state information mainly comprises a storage state and a non-storage state; the status information of the coded signal transmitter mainly comprises an on state and an off state.
Optionally, the state information of the storage device includes: position information of the storage device, capacity information of the current storage, content information of the current storage. The position information of the storage device mainly refers to the information of the current position of the non-fixed storage device; the currently stored capacity information mainly indicates whether the current storage amount of the storage device is full (if not, indicating that the articles which are not stored are available); the currently stored content information mainly indicates whether the stored articles are correctly stored, for example, if a sweeping robot is stored on a bookshelf, the storage is wrong.
It will be appreciated that the coded signal emitter on each article is in two states, the article being in an open state when the article is removed and in a closed state when the article is used. The specific implementation mode is as follows: the state of the article after being first stored can be taken as an initial state, and the coding signal emitter in the initial state is set to be in a closed state; when the article is taken out, if the position displacement exceeds a preset threshold value, the article can be determined to be moved out of the containing device, and the state of the coded signal emitter read by the control device is changed into an open state; and after the article is used up, the user can close the coding signal transmitter by means of buttons, plectrum, or APP backstage on the control equipment, so that the coding signal transmitter is in a closed state. After the robot puts the articles into the containing device, if the coded signal emitter is in an open state, the coded signal emitter is adjusted to a closed state; when the article is in the storage device, the coding transmitter is in a closed state.
In some embodiments of the present invention, the type of the storage device includes a storage box; a group of storage coded signal transceivers are arranged at eight top corners of the storage box and used for sensing articles placed in the storage box and/or taken out of the storage box; or the induction coil is arranged on the containing boundary of the intelligent containing device to induce whether the article is positioned in the containing device.
In some examples, whether the current cross of the storage boundary is a drop-in action or a drop-out action may be determined in conjunction with an initial state of each item to be stored. For example, an external control device (e.g., a mobile phone or a server) establishes communication with each article code signal transceiver and the storage code signal transceiver, and receives status information of each transceiver. If the transceiver on an article generates a sensing signal and the initial state of the article is the accommodating state, determining that the article is taken out; and if the transceiver on an article generates a sensing signal and the initial state of the article is the non-storage state, the article can be determined to be the putting-in action.
Note that, in some cases, an article to be received is put into the receiving device with its article code signal transceiver turned off, which results in that even if the article crosses the receiving boundary, it is still impossible to determine whether the operation is put in or taken out. In this case, the problem can be solved in combination with manual setting, for example, after the article code signal transceiver is turned off, the article storage state can be changed to the off state on the control device in time, and when the article code signal transceiver passes through the storage limit for the first time after the manual setting is completed, the state is not changed, and when the article code signal transceiver passes through the storage limit for the second time, the state is changed.
In some examples, the entry and exit may not be determined, but rather the item status may be determined based on whether the item to be received is within a sensing range of the receiving device. For example, when article a1 is within the sensing range of storage device a, article a1 is in the closed state; when the a1 is not in the sensing range of the containing device A, the article a1 is in an open state; when the article a1 is not in the sensing range of the storage device a and is used completely, the article a1 can be manually set to be in a closed state to wait for retraction.
In some examples, a contact induction coil may be further disposed at an edge of a fixed position of the receiving device (e.g., a file rack, a test tube rack, a bookshelf, a storage box, etc.) a, and a contact induction coil may be correspondingly disposed at an edge of the article a1 to be received; when the induction coil of the article to be received a1 contacts the induction coil of the receiving device a, the article to be received a1 is in a closed state; otherwise, the state is opened; when the induction coil of the article a1 is not in contact with the induction coil of the storage device a but is used, the article a1 can be manually turned off to wait for retraction.
In some examples, the robot apparatus puts/takes items to be received in/out of corresponding receiving devices according to preset rules, which includes: and the robot equipment puts the articles to be received which are not in the receiving devices into the corresponding receiving devices within a preset operation time period.
Generally, if the status of the coded signal transmitter of an article is open, it indicates that the article is still in use, and the robot device does not store the article in use. However, in some cases, the robot apparatus may forcibly store articles in use, for example, forcibly store articles that are not stored in late night, so that the user may be reminded to take a rest, or store articles that are not stored in time after being used up or whose coded signal transmitter state is not changed in time. Furthermore, a certain reaction time is reserved at the moment of forced storage, and if the user uses the article at the moment, a signal for stopping the forced storage can be sent out so that the user can continue to use the article. The signal that stops to admit and accomodate can be realized through modes such as gesture, APP operation, acoustic control, physics button, and robotic device stops accomodating this article after receiving the signal of stopping to accomodate by force to reserve to accomodate next time.
In some examples, the robot apparatus puts/takes items to be received in/out of corresponding receiving devices according to preset rules, which includes: the robot equipment reads the state information of the coded signal emitter of each article to be stored from the control equipment, and puts the articles which are in the closed state and are not in the storage devices into the corresponding storage devices; wherein the state of the coded signal transmitter comprises an on state and an off state; the opening state corresponds to that the article to be received is not in the receiving device and is not used completely; the closed state corresponds to the article to be received being in the storage device or to the article to be received not being in the storage device and having been used up. That is, the article in the closed state should be stored in time after the use is finished, and if the user adjusts the state of the encoding signal transmitter of the article to be closed after the use is finished, but forgets to store the article in the corresponding storage device, the robot device will locate the article and store the article in time. In addition, the states of the code signal transmitter are explained in the foregoing, and thus are not described in detail.
In some examples, the robot apparatus puts/takes out an article to be received into/from a corresponding receiving apparatus according to an operation instruction issued by the control apparatus, and includes: the control equipment issues a one-key storage operation instruction to enable the robot equipment to place all the articles to be stored which are not in the storage device into the corresponding storage device. It will be appreciated that such a one-click stow operation command is analogous to a one-time reset of an item, suitable for a large sweep in a home environment, inventory in a laboratory/store/library, etc.
In some examples, the robot apparatus puts/takes out an article to be received into/from a corresponding receiving apparatus according to an operation instruction issued by the control apparatus, and includes: the control equipment issues a one-key taking-out operation instruction to enable the robot equipment to take out the currently required articles; the one-key taking-out mode comprises the step of taking out the currently required article from the storage device, or the step of integrally moving the storage device where the currently required article is located. That is, the user can take out all the necessary articles or take out the entire storage device by issuing a one-touch command on the control device.
In some examples, the robot apparatus puts/takes out an article to be received into/from a corresponding receiving apparatus according to an operation instruction issued by the control apparatus, and includes: the control equipment executes the article taking and placing operation at regular time. For example, the robot device takes out a workbook at regular time and places the workbook on a desk to play a role in reminding to do a homework.
In some examples, remote delivery of items may also be performed by the robotic device. For example, when the user is not present, the user can perform remote communication connection with the robot device through the control device, and the robot device is controlled by the control device to take out articles on the spot and hand over the articles to other people, so that remote article taking is realized.
In some examples, when the robot device is positioned to receive an article but cannot perform a pick-and-place operation, the position information of the article is saved and transmitted to the control device. The design is that under the condition that the robot is positioned on an article but cannot take the article, the robot equipment can timely store the position information of the article, and the position information is fed back to a user through the control equipment, so that the user can conveniently take the article out.
Optionally, the condition that the robot device cannot perform the pick-and-place operation includes exceeding the operation distance of the robot device. For example, when the robot device is positioned to a position where an article is left on the top of a shelf, but the robot device cannot be taken down due to the limited length of the manipulator, the position information of the article is stored and then sent to the control device, and after the user inquires and learns the position of the article, the user finds the article by himself or herself and takes out and stores the article.
Optionally, the situation that the robot device cannot perform the pick-and-place operation further includes that the channel is too narrow. For example, if the robot device finds that the book is in a gap of a sofa in the process of positioning the book, but the robot device cannot stretch into the gap, the position information of the book is stored and sent to the control device, and the user takes out the book and stores the book after inquiring and knowing the position of the book.
Optionally, the situation that the robot device cannot perform the pick-and-place operation further includes an abnormal operation. For example, if the robot device can only locate that the article is near the quilt in the process of locating the article, but cannot further locate that the article is actually under the quilt, the position information of the article is stored and then sent to the control device, and after the user inquires and learns the position of the article, the user finds the article by himself and then takes out and stores the article.
In some examples, the robotic device designates an item that is not currently in the storage apparatus but does not detect the item code signal transmitter as a missing item, and automatically performs the task of finding the missing item each time the runtime is turned on later. That is, if the robot device cannot find the articles currently, it determines that the articles are missing or borrowed, and automatically searches for the lost articles when the robot device is restarted for operation next time. In this case, the lost article can be stored in time when it is reproduced (for example, the article returned).
In some examples, the control device statistically analyzes the placement positions of the articles to be stored when the articles to be stored are stored, and arranges the multiple placement positions corresponding to each article to be stored in a descending order or an ascending order according to the frequency, so that when the article coding signal transmitter fails to work (for example, a fault occurs, the electric quantity is insufficient, a signal is shielded by interference, and the like), article searching can be performed in a descending order or an ascending order according to the frequency of the placement positions. Meanwhile, the design can also show the user after some summary analysis is carried out on the user habits.
Example two:
fig. 2 is a schematic flow chart showing a method for picking and placing an article according to an embodiment of the present invention. The article taking and placing method of the present embodiment is applied to the control device in the article taking and placing system of the previous embodiment. Specifically, the article taking and placing method comprises the following steps.
Step S21: and reading and displaying the state information of one or more types of articles to be received and the receiving device.
Step S22: and issuing an operation instruction to the robot equipment so as to enable the robot equipment to put/take the article to be received into/out of the corresponding receiving device according to the operation instruction or a preset rule.
In some examples, the preset rule includes that the robot device puts an article to be received, which is not currently in a storage device, into a corresponding storage device within a preset operation time period.
In some examples, the preset rule includes that the robot device reads status information of a coded signal transmitter of each article to be stored from a control device, and puts the article which is in a closed state and is not in a storage device into the corresponding storage device; wherein the state of the coded signal transmitter comprises an on state and an off state; the opening state corresponds to that the article to be received is not in the receiving device and is not used completely; the closed state corresponds to the article to be received being in the storage device or to the article to be received not being in the storage device and having been used up.
It should be noted that the article taking and placing method provided in this embodiment is similar to the embodiment of the article taking and placing system based on the robot in the foregoing embodiment, and therefore, the detailed description is omitted.
Example three:
fig. 3 is a schematic flow chart showing a method for picking and placing an article according to an embodiment of the present invention. The article taking and placing method of the present embodiment is applied to the robot device in the article taking and placing system of the previous embodiment. Specifically, the article taking and placing method comprises the following steps.
Step S31: and receiving an operation instruction.
Step S32: and putting/taking the articles to be received into/out of the corresponding receiving devices according to preset rules or received operation instructions.
It should be noted that the article taking and placing method provided in this embodiment is similar to the embodiment of the article taking and placing system based on the robot in the foregoing embodiment, and therefore, the detailed description is omitted.
Example four:
fig. 4 is a schematic structural diagram of a control device according to an embodiment of the present invention. The control device provided by the embodiment includes: a processor 41, a memory 42, a communicator 43; the memory 42 is connected to the processor 41 and the communicator 43 through a system bus and is used for completing mutual communication, the memory 42 is used for storing computer programs, the communicator 43 is used for communicating with other devices, and the processor 41 is used for operating the computer programs, so that the electronic terminal executes the steps of the article taking and placing method.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Example five:
fig. 5 is a schematic structural diagram of a robot apparatus according to an embodiment of the present invention. The control device provided by the embodiment includes: a processor 51, a memory 52, a communicator 53; the memory 52 is connected with the processor 51 and the communicator 53 through a system bus and is used for completing mutual communication, the memory 52 is used for storing computer programs, the communicator 53 is used for communicating with other devices, and the processor 51 is used for operating the computer programs so as to enable the electronic terminal to execute the steps of the article taking and placing method.
The above-mentioned system bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
Example six:
the embodiment provides a computer readable storage medium, on which a first computer program and/or a second computer program are stored, the first computer program, when executed by a processor, implementing an article pick-and-place method applied to a control device; the second computer program, when executed by the processor, implements an article pick and place method for use with a robotic device.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
In summary, the present invention provides an article picking and placing system, method, control device, robot device and storage medium, and the system and method uses the robot device to timely pick up articles by setting the code signal transmitter on the articles to be picked up and the pick-up device, without spending a lot of time on the return of articles such as data, experimental materials or books, thereby greatly improving the article management efficiency and saving a lot of resources. Therefore, the application effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (13)
1. A robot-based article picking and placing system, comprising:
one or more types of articles to be accommodated, wherein each article in each type of article to be accommodated is provided with an article coding signal transmitter;
one or more containing devices, each containing device is provided with a containing coded signal emitter and a unique storage identifier for containing the corresponding category of articles to be contained;
the control equipment is used for reading and displaying the state information of each article to be stored and each storage device, and inputting and realizing instruction operation and/or preset operation on the robot equipment;
the robot equipment is in communication connection with the control equipment and is used for putting/taking the articles to be received into/out of the corresponding receiving devices according to preset rules and/or operation instructions issued by the control equipment;
the robot apparatus puts in/takes out an article to be received in a corresponding receiving device according to a preset rule, and the robot apparatus includes: the robot equipment reads the state information of the coded signal emitter of each article to be stored from the control equipment, and puts the articles which are in the closed state and are not in the storage devices into the corresponding storage devices; wherein the state of the coded signal transmitter comprises an on state and an off state; the opening state corresponds to that the article to be received is not in the receiving device and is not used completely; the closed state corresponds to the article to be received being in the storage device or to the article to be received not being in the storage device and having been used up.
2. The robot-based item picking and placing system of claim 1, wherein the status information of the item to be stored comprises: category information of an article to be received, state information of the coded signal emitter and current receiving state information; the state information of the storage device includes: the information processing device comprises position information of the containing device, currently contained capacity information, currently contained content information, and information of articles which are supposed to be contained in the containing device but are not currently in the range of the containing device.
3. The robot-based article picking and placing system according to claim 1, wherein the robot apparatus picks and places the articles to be received into/out of the corresponding receiving devices according to a preset rule, comprising:
and the robot equipment puts the articles to be received which are not in the receiving devices into the corresponding receiving devices within a preset operation time period.
4. The robot-based article taking and placing system according to claim 1, wherein the robot device takes and places the article to be received into/out of the corresponding receiving device according to the operation command issued by the control device, and comprises:
the control equipment issues a one-key storage operation instruction to enable the robot equipment to place all articles to be stored which are not in the storage device into the corresponding storage device; and/or
The control equipment issues a one-key taking-out operation instruction to enable the robot equipment to take out the currently required articles; the one-key taking-out mode comprises the step of taking out the currently required article from the storage device, or the step of integrally moving the storage device where the currently required article is located.
5. The robot-based article taking and placing system according to claim 1, wherein the robot device takes and places the article to be received into/out of the corresponding receiving device according to the operation command issued by the control device, and comprises:
and the control equipment issues an operation instruction so as to enable the robot equipment to execute corresponding putting-in/taking-out actions at a preset time.
6. The robot-based article handling system of claim 1, wherein when the robotic device is positioned to receive an article but is unable to perform a handling operation, the position information of the article is saved and transmitted to the control device; wherein, the condition that robot equipment can not carry out getting and putting operation includes at least: beyond the operating distance of the robotic device, too narrow a passageway, or unusual operation.
7. The robot-based item picking and placing system of claim 1, wherein the robot device determines an item that is not currently in the storage device but cannot detect the item code signal transmitter as a lost item, and automatically performs a task of finding the lost item each time the operation is turned on later.
8. The robot-based article picking and placing system according to claim 1, wherein the control device statistically analyzes the placing positions of the articles to be received when being received, and arranges the plurality of placing positions corresponding to each article to be received in descending order of frequency, so that when the article coding signal transmitter fails to work, article searching can be performed in descending order of frequency of the placing positions.
9. An article pick-and-place method, applied to the control device of claim 1, comprising:
reading and displaying state information of one or more types of articles to be received and the receiving device;
issuing an operation instruction to the robot equipment so as to enable the robot equipment to put/take the articles to be received into/out of the corresponding receiving device according to the operation instruction or a preset rule;
wherein, will wait to receive article according to predetermineeing the rule and put into/take out in corresponding storage device, it includes: the robot equipment reads the state information of the coded signal emitter of each article to be stored from the control equipment, and puts the articles which are in the closed state and are not in the storage devices into the corresponding storage devices; wherein the state of the coded signal transmitter comprises an on state and an off state; the opening state corresponds to that the article to be received is not in the receiving device and is not used completely; the closed state corresponds to the article to be received being in the storage device or to the article to be received not being in the storage device and having been used up.
10. An article picking and placing method applied to the robot apparatus of claim 1, the method comprising:
receiving an operation instruction;
putting/taking the articles to be received into/out of the corresponding receiving devices according to preset rules or received operation instructions;
wherein, will wait to receive article according to predetermineeing the rule and put into/take out in corresponding storage device, it includes: the robot equipment reads the state information of the coded signal emitter of each article to be stored from the control equipment, and puts the articles which are in the closed state and are not in the storage devices into the corresponding storage devices; wherein the state of the coded signal transmitter comprises an on state and an off state; the opening state corresponds to that the article to be received is not in the receiving device and is not used completely; the closed state corresponds to the article to be received being in the storage device or to the article to be received not being in the storage device and having been used up.
11. A control apparatus, characterized by comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to enable the terminal to execute the article taking and placing method according to claim 9.
12. The robot device is characterized by comprising a moving platform, a mechanical arm and an end picking device, and further comprising: a processor and a memory;
the memory is used for storing a computer program;
the processor is used for executing the computer program stored in the memory to make the terminal execute the article taking and placing method according to claim 10.
13. A computer-readable storage medium, on which a first computer program and/or a second computer program is stored, wherein the first computer program, when executed by a processor, implements the article handling method of claim 9; the second computer program, when executed by a processor, implements the article pick and place method of claim 10.
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| CN202011269658.4A CN112388639B (en) | 2020-11-13 | 2020-11-13 | Article taking and placing system, method, control device, robot device and storage medium |
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| CN202011269658.4A CN112388639B (en) | 2020-11-13 | 2020-11-13 | Article taking and placing system, method, control device, robot device and storage medium |
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| CN114296447B (en) * | 2021-12-07 | 2023-06-30 | 北京石头世纪科技股份有限公司 | Self-walking equipment control method and device, self-walking equipment and storage medium |
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| US10414052B2 (en) * | 2016-02-09 | 2019-09-17 | Cobalt Robotics Inc. | Building-integrated mobile robot |
| JP6510436B2 (en) * | 2016-02-12 | 2019-05-08 | 株式会社日立製作所 | Article conveying system, conveying apparatus and article conveying method |
| CN106682418B (en) * | 2016-12-27 | 2021-08-10 | Tcl科技集团股份有限公司 | Intelligent access system based on robot and access method thereof |
| US20200277139A1 (en) * | 2018-03-27 | 2020-09-03 | Hitachi Industrial Products, Ltd. | Warehouse system |
| JP7224925B2 (en) * | 2019-01-15 | 2023-02-20 | 東芝テック株式会社 | Information processing device, reading device and program |
| CN111507207A (en) * | 2020-03-30 | 2020-08-07 | 宇龙计算机通信科技(深圳)有限公司 | Article storage method, apparatus, storage medium, and terminal |
| CN111660272B (en) * | 2020-05-26 | 2024-01-05 | 宝合工业工具(上海)有限公司 | Intelligent anti-loss storage box and tool management system |
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