CN114610022A - Connection positioning method and distribution system - Google Patents
Connection positioning method and distribution system Download PDFInfo
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- CN114610022A CN114610022A CN202210122197.0A CN202210122197A CN114610022A CN 114610022 A CN114610022 A CN 114610022A CN 202210122197 A CN202210122197 A CN 202210122197A CN 114610022 A CN114610022 A CN 114610022A
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- 210000001503 joint Anatomy 0.000 claims abstract description 20
- 238000003032 molecular docking Methods 0.000 claims description 104
- 238000003491 array Methods 0.000 claims description 9
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
Abstract
The embodiment of the disclosure provides a connection positioning method and a distribution system, and relates to the technical field of unmanned distribution. When the relative position of the first device and the second device changes, the relative position of the positioning light source and the photosensitive array is driven to change. The relative position of the first device and the second device can be obtained by utilizing the position information of the positioning light source in the excitation area of the photosensitive array, and then the second device is controlled to move according to the position information. By adopting the connection positioning method, the relative positions of the first equipment and the second equipment are adjusted only by utilizing the matching of the positioning light source and the photosensitive array, so that the first equipment and the second equipment can be accurately connected in a butt joint mode, and the connection mode is simple and convenient. And the positioning light source and the photosensitive array have simple structures and strong anti-interference capability, and the connection precision is greatly improved.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of unmanned distribution, in particular to a connection positioning method and a distribution system.
Background
With the development and progress of social economy, the intelligent robot has rapid development and progress, and is widely used in the field of unmanned distribution.
At present, be provided with delivery cabinet and delivery robot usually in residential area or business office, the delivery is provided with the mouth of refuting on the cupboard, and the delivery robot carries out article exchange through mouth of refuting and delivery cabinet. In the process of docking the delivery robot with the delivery cabinet, a laser radar or a camera is generally used to identify the position of the delivery robot, so as to realize docking of the delivery robot with the docking port.
The existing distribution robot connection mode is adopted, the complexity of a system scheme can be increased due to the introduction of the laser radar and the camera, and the connection precision is low.
Disclosure of Invention
The embodiment of the disclosure provides a connection positioning method and a distribution system, which at least solve the problems that in the existing distribution robot connection mode, due to the complex structure, the complexity of a system scheme is increased, and the connection precision is low.
According to a first aspect of the embodiments of the present disclosure, an embodiment of the present disclosure discloses a docking positioning method for docking positioning of a first device and a second device, the docking positioning method including:
controlling the first equipment to be in a preset butt joint area;
triggering the second equipment to start a positioning light source;
according to a first excitation region of the positioning light source on the photosensitive array of the first device, acquiring position information corresponding to the first excitation region, wherein the position information is used for representing the relative position of the first device and the second device;
controlling the first equipment to move according to the position information;
acquiring a second excitation area of the positioning light source on the photosensitive array, and judging whether the second excitation area meets a preset condition;
and completing the connection positioning under the condition that the second excitation area meets the preset condition.
In a second aspect, an embodiment of the present disclosure discloses a docking positioning method for docking positioning of a first device and a second device, where the docking positioning method includes:
controlling the second equipment to be in a preset butt joint area;
responding to a trigger instruction of the first equipment, controlling the second equipment to turn on a positioning light source;
according to a first excitation region of the positioning light source on the photosensitive array of the first device, acquiring position information corresponding to the first excitation region, wherein the position information is used for representing the relative position of the first device and the second device;
controlling the second equipment to move according to the position information;
acquiring a second excitation area of the positioning light source on the photosensitive array, and judging whether the second excitation area meets a preset condition;
and completing the connection positioning under the condition that the second excitation area meets the preset condition.
In a third aspect, an embodiment of the present disclosure discloses a distribution system, configured to perform the above-mentioned docking positioning method, where the distribution system includes: the device comprises a positioning light source, a photosensitive array, a first device and a second device, wherein the photosensitive array comprises a plurality of photosensitive elements distributed in a matrix;
the photosensitive array is arranged on the first equipment, and the positioning light source is arranged on the second equipment;
the positioning light source and the photosensitive array are used for representing the relative positions of the first device and the second device.
In the embodiment of the disclosure, the docking positioning method is used for docking positioning of a first device and a second device, wherein a photosensitive array is arranged on the first device, and a positioning light source is arranged on the second device. When the relative position of the first device and the second device changes, the relative position of the positioning light source and the photosensitive array is driven to change. The relative position of the first device and the second device can be obtained by utilizing the position information of the positioning light source in the excitation area of the photosensitive array, and then the first device is controlled to move according to the position information. By adopting the connection positioning method, the relative positions of the first equipment and the second equipment are adjusted only by matching the positioning light source and the photosensitive array, so that the first equipment and the second equipment can be accurately connected in a simple and convenient connection mode. And the positioning light source and the photosensitive array have simple structures and strong anti-interference capability, and the connection precision is greatly improved.
The foregoing description is only an overview of the technical solutions of the present disclosure, and the embodiments of the present disclosure are described below in order to make the technical means of the present disclosure more clearly understood and to make the above and other objects, features, and advantages of the present disclosure more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions of the present disclosure, the drawings needed to be used in the description of the present disclosure will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
Fig. 1 is a flowchart illustrating steps of a docking positioning method according to an embodiment of the present disclosure;
fig. 2 is a second flowchart illustrating steps of a docking positioning method according to a second embodiment of the disclosure;
FIG. 3 is a schematic diagram of a photosensitive array structure according to an embodiment of the disclosure;
FIG. 4 is a schematic view of a positioning light source in an embodiment of the disclosure;
FIG. 5 is a graph of a photosensitive array, a first excitation region in an embodiment of the disclosure;
FIG. 6 is a sensing system coordinate system of a photosensitive element in an embodiment of the present disclosure;
FIG. 7 is a flow chart of an item scheduling method in an embodiment of the present disclosure;
FIG. 8 is a flowchart of a second method of scheduling items in an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a distribution cabinet in an embodiment of the present disclosure.
Detailed Description
The technical solutions in the present disclosure will be described clearly and completely with reference to the accompanying drawings in the present disclosure, and it is obvious that the described embodiments are some, not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
Example one
Referring to fig. 1, a flowchart illustrating one of the steps of a docking positioning method in the embodiment of the present disclosure is shown, which specifically includes the following steps:
It should be noted that the connection positioning method provided in the embodiment of the present disclosure may be applied to a distribution system, and is used to perform accurate connection positioning on a first device and a second device in the distribution system, so as to improve article transmission efficiency and distribution efficiency. Wherein the first device may be one of a robot or a docking apparatus, and the second device may be the other of the robot or the docking apparatus. For example, the first device is a robot, and the second device is a docking device; similarly, the first device is a docking apparatus, and the second device is a robot. When the connection positioning is carried out, the robot or the connection device moves to a preset area, and a bin body of the robot is in butt joint with an object placing area on the connection device, so that goods are transferred between the connection device and the robot.
Before the first device and the second device are in docking positioning, the first device can be controlled to reach a preset docking area through radar coarse positioning. The triggering condition for controlling the first device to reach the preset docking area may be a control instruction sent by an administrator, for example, a docking positioning instruction sent by the administrator through the terminal device, and the controller controls the first device to move in response to the instruction.
The trigger condition for controlling the first device to reach the preset docking area may also be a related instruction sent by the user through the client. The client is used for interacting with the user and providing delivery service for the user, the user can select delivery service items through the client and generate delivery orders, and the client can be a webpage, an application program and the like capable of providing delivery service. The client may be run in an electronic device used by a user, and the electronic device may include, but is not limited to, a smart phone, a Personal Computer (PC), a Personal digital assistant, a tablet Computer, a notebook Computer, an in-vehicle Computer, a handheld game machine, a smart wearable device, a virtual display device, or a display device. For example, the user selects a delivery service item through a mobile phone application program, generates a delivery order, and controls the first device to move after the controller acquires the order.
And 102, triggering the second equipment to start a positioning light source.
Referring to fig. 3 and 4, after the first device is located in the preset docking area, the second device is also located in the preset docking area by moving, the first device sends a trigger instruction to the second device to trigger a positioning light source on the second device to be turned on, the positioning light source includes a gas laser, a solid laser, a semiconductor laser, and the like, and can generate a laser light source and emit the laser light source onto the photosensitive array to form an excitation area on the photosensitive array. The first device is one of a robot or a docking apparatus and the second device is the other of the robot or the docking apparatus. For example, the positioning light source is arranged on the robot, and the photosensitive array is arranged on the docking device; or, the positioning light source is disposed on the robot, and the photosensitive array is disposed on the docking device, as long as the positioning light source can form an excitation region on the photosensitive array when the first device and the second device are docked, which is not limited in the embodiments of the present disclosure.
The positioning light source forms a first excitation area on the photosensitive array, and the controller can obtain corresponding position information according to the first excitation area. The first excitation area can be obtained by real-time monitoring of the controller or obtained after the controller receives an alignment instruction. When the first device is in butt joint with the second device, the position information corresponding to the first excitation area can represent the relative position of the first device and the second device.
And 104, controlling the first equipment to move according to the position information.
When the first equipment and the second equipment have connection deviation, the first equipment can be controlled to move according to the position information, so that the first equipment and the second equipment generate relative position change, and the connection position is adjusted. The first equipment can be a robot or a connection device, the connection device can be a mechanical arm, a movable carrying platform and the like, the connection position is adjusted, the robot can be controlled to move, and the connection device can also be controlled to move.
And 105, acquiring a second excitation area of the positioning light source on the photosensitive array, and judging whether the second excitation area meets a preset condition.
After the first device is moved once, a second excitation area of the positioning light source on the photosensitive array can be obtained again, and whether the moved second excitation area meets the preset condition or not is judged; when the first device performs multiple movements, a second excitation region of the positioning light source on the photosensitive array is acquired for each movement, and the number of the second excitation regions is at least one, and is specifically determined according to the number of movements of the first device. The second excitation area can be obtained by real-time monitoring after the controller moves the first equipment; the controller may also control the positioning light source to be turned on for reacquisition after a single movement of the first device.
And 106, completing connection positioning under the condition that the second excitation area meets the preset condition.
And under the condition that the second excitation area meets the preset condition, the first equipment and the second equipment meet the requirement of the connection positioning precision, and connection positioning can be completed. Or before controlling the first device to move, if the first excitation area meets the preset condition, the docking positioning can be directly completed.
In the embodiment of the disclosure, the docking positioning method is used for docking positioning of a first device and a second device, wherein a photosensitive array is arranged on the first device, and a positioning light source is arranged on the second device. When the relative position of the first device and the second device changes, the relative position of the positioning light source and the photosensitive array is driven to change. The relative position of the first device and the second device can be obtained by utilizing the position information of the positioning light source in the excitation area of the photosensitive array, and then the first device is controlled to move according to the position information. By adopting the connection positioning method, the relative positions of the first equipment and the second equipment are adjusted only by matching the positioning light source and the photosensitive array, so that the first equipment and the second equipment can be accurately connected in a simple and convenient connection mode. And the positioning light source and the photosensitive array have simple structures and strong anti-interference capability, and the connection precision is greatly improved.
In an optional embodiment of the present disclosure, the step 103 of acquiring, according to a first excitation region of the positioning light source on a first device photosensitive array, position information corresponding to the first excitation region includes:
and step S11, acquiring coordinate information of the center of the first excitation area on the photosensitive array.
Referring to fig. 5 and 6, it is assumed that the world coordinate system in which the first device or the second device is located is xoy, the coordinate system of the sensing system corresponding to the photosensitive array is x 'o' y ', and the coordinates of the photosensitive array o' in xoy are known as (a, B). When the positioning light source forms the first excitation area on the photosensitive array, the coordinate information of the center of the first excitation area under the x ' o ' y ' coordinate system can be obtained as (a ', b ').
And step S12, acquiring the position information according to the coordinate information and the relative position relation between the photosensitive array and the first device.
According to the relative position relation between the photosensitive array and the first device, namely the coordinates (A and B) of the photosensitive array o ' in the xoy, the coordinates (A + a ', B + B ') of the center of the first excitation area in the xoy coordinate system can be obtained through conversion, namely the coordinates are position information, the relative position relation between the first device and the second device is represented, and under the same world coordinate system, the relative positions of the first device and the second device can be adjusted according to the position information, so that the first device and the second device can be accurately butted.
In an optional embodiment of the present disclosure, the controlling the first device to move according to the location information in step 104 includes:
and S21, acquiring a movement vector according to the position information and the relative position relation between the photosensitive array and the first device.
Referring to fig. 5 and 6, coordinates of the photosensitive array o ' in xoy are (a, B) and coordinates (a + a ', B + B ') of the first excitation region center in xoy coordinate system. Assuming that the first device and the second device can be accurately docked when the center of the first excitation region moves to the position of the photosensitive array o ', a movement vector (a ', b ') can be calculated according to the position information and the relative position relationship between the photosensitive array and the first device.
And S22, controlling the first equipment to move according to the movement vector.
And controlling the first equipment to move according to the movement vector so that the first equipment and the second equipment can be accurately docked. The movement of the robot can be controlled according to the movement vector, the movement of the connection device can also be controlled, and the connection position between the first equipment and the second equipment can be adjusted. For example, the first device is a mechanical arm of the docking device, and a carrier connected with a cabin of the robot is arranged at the tail end of the mechanical arm. And the controller initiates a control command according to the movement vector, moves the mechanical arm, and finally realizes accurate butt joint with the robot, wherein the coordinates of the carrier at the tail end of the mechanical arm in the xoy are (A + a ', B + B').
In an optional embodiment of the present disclosure, the acquiring 105 a second excitation region of the positioning light source on the photosensitive array, and determining whether the second excitation region satisfies a preset condition includes:
and step S31, judging whether the distance between the center coordinate of the second excitation area and the preset coordinate of the photosensitive array is smaller than a preset threshold value.
Specifically, the second excitation area may be obtained by real-time monitoring after the controller performs a single movement of the first device, and the coordinates of the excitation area may change in real time before and after the first device moves. Or after the first device is moved once, the controller controls the second device to turn on the positioning light source again to obtain a second excitation area, and coordinates of the center of the second excitation area under the x ' o ' y ' coordinate system are (c ', d ').
In a sensing system coordinate system x ' o ' y ' corresponding to the photosensitive array, a preset coordinate (e ', f ') may be set. And determining whether the distance between the center coordinate of the second excitation area and the predetermined coordinate is smaller than a predetermined threshold, assuming that the predetermined threshold is g, i.e. determining whether the values of | c '-e' | and | d '-f' | are smaller than g. The preset condition may characterize the proximity between the center coordinates of the second excitation region and the preset coordinates. When the center coordinates of the second excitation area are just at the preset coordinates, the first device and the second device are in perfect butt joint. The requirement on the alignment precision can also be met by setting a threshold value g when the absolute values of the difference values between the central coordinate of the second excitation area and the horizontal and vertical coordinates of the preset coordinate are all smaller than g.
In an optional embodiment of the present disclosure, the step 106 of completing the docking positioning in a case that the second excitation region satisfies a preset condition includes:
and step S41, when the distance between the center coordinate of the second excitation area and the preset coordinate of the photosensitive array is smaller than a preset threshold value and the aligning times of the first equipment and the second equipment are not more than preset times, completing the docking positioning.
Specifically, a preset coordinate (e ', f ') may be set in a sensing system coordinate system x ' o ' y ' corresponding to the photosensitive array. It is determined whether the distance between the coordinates of the center of the second excitation area and the predetermined coordinates is smaller than a predetermined threshold value, which is assumed to be g, i.e. whether the values of | c '-e' | and | d '-f' | are smaller than g. The preset condition may characterize the proximity between the center coordinates of the second excitation region and the preset coordinates. When the central coordinates of the second excitation area are just at the preset coordinates, the first device and the second device are in perfect butt joint. The requirement on the alignment precision can also be met by setting a threshold value g when the absolute values of the difference values between the central coordinate of the second excitation area and the horizontal and vertical coordinates of the preset coordinate are all smaller than g.
Meanwhile, in the connection process of the first device and the second device, the first device moves more than once, that is, the first device and the second device are aligned for many times. In order to avoid that multiple docking is still unsuccessful and the working efficiency of the distribution system is affected, when the first equipment and the second equipment are aligned, the accuracy requirement is required to be met, and the aligning times are required to be controlled not to be more than the preset times. The preset times can be 1, 2, 3 …, etc., and can be selected according to actual requirements.
In an optional embodiment of the present disclosure, after acquiring a second excitation region of the positioning light source on the photosensitive array and determining whether the second excitation region satisfies a preset condition in step 106, the method further includes:
and step S51, when the second excitation area does not meet the preset condition and the alignment times of the first equipment and the second equipment are greater than the preset times, sending a failure prompt of the connection positioning.
In a use scene, the preset times are 3, the preset threshold value is g, the first device and the second device reach the preset butt joint area, the first alignment is carried out, at the moment, the system acquires the first excitation area, and if the first excitation area meets the preset condition, the alignment is finished; and if the first excitation area does not meet the preset condition, the first equipment is controlled to move according to the position information obtained by the first excitation area.
After the first equipment moves, carrying out second alignment to obtain a second excitation area, and if the second excitation area meets the preset condition, finishing the alignment; and if the second excitation area does not meet the preset condition, controlling the first equipment to move according to the position information corresponding to the second excitation area.
And after the first equipment moves, carrying out third alignment. After the three times of alignment, acquiring an excitation area of the positioning light source on the photosensitive array again, and completing connection positioning if the excitation area meets preset conditions; and if the excitation area does not meet the preset condition, sending a failure prompt of the connection positioning.
The failure prompt of the connection positioning can be a voice prompt or a prompt form such as characters or videos, and a manager or a user can timely make corresponding feedback according to the failure prompt so as to improve the distribution efficiency.
In an optional embodiment of the present disclosure, the controlling, in step 101, that the first device is in a preset docking area includes:
and S61, receiving a docking instruction.
S62, responding to the docking instruction, and controlling the first device to move to the preset docking area.
Before the first device and the second device are in docking positioning, the first device can be controlled to be in a preset docking area through radar coarse positioning. The docking instruction for controlling the first device to be in the preset docking area may be issued by an administrator, for example, the administrator issues the docking instruction through the terminal device, and the controller controls the first device in response to the docking instruction. The docking instruction for controlling the first device to reach the preset docking area may also be a related instruction sent by the user through the client. The client is used for interacting with the user and providing delivery service for the user, the user can select delivery service items through the client and generate delivery orders, and the client can be a webpage, an application program and the like capable of providing delivery service.
After the first device reaches the preset butt joint area, a trigger instruction is sent, so that the second device is triggered to move to the preset butt joint area and carry out first alignment with the first device.
Example two
Referring to fig. 2, a second flowchart of the steps of a docking positioning method in the embodiment of the present disclosure is shown, which specifically includes the following steps:
Before the first equipment and the second equipment are in docking positioning, the second equipment can be controlled to reach a preset docking area through radar coarse positioning. The triggering condition for controlling the second device to reach the preset docking area may be a control instruction sent by an administrator, for example, a docking positioning instruction sent by the administrator through the terminal device, and the controller controls the second device to move in response to the instruction.
The trigger condition for controlling the second device to reach the preset docking area may also be a related instruction sent by the user through the client. The client is used for interacting with the user and providing delivery service for the user, the user can select delivery service items through the client and generate delivery orders, and the client can be a webpage, an application program and the like capable of providing delivery service. The client may be run in an electronic device used by a user, and the electronic device may include, but is not limited to, a smart phone, a Personal Computer (PC), a Personal digital assistant, a tablet Computer, a notebook Computer, an in-vehicle Computer, a handheld game machine, a smart wearable device, a virtual display device, or a display device. For example, the user selects a delivery service item through a mobile phone application program, generates a delivery order, and controls the second device to move after the controller acquires the order.
Or after the first device reaches the preset docking area, sending a moving instruction to the second device, and after responding to the moving instruction, the second device moves to the preset docking area.
Referring to fig. 5 and 6, after the first device is located in the preset docking area, the second device is also located in the preset docking area by moving, the first device sends a trigger instruction to the second device to trigger a positioning light source on the second device to be turned on, the positioning light source includes a gas laser, a solid laser, a semiconductor laser, and the like, and can generate a laser light source and emit the laser light source onto the photosensitive array to form an excitation area on the photosensitive array. The first device is one of a robot or a docking apparatus and the second device is the other of the robot or the docking apparatus. For example, the positioning light source is arranged on the robot, and the photosensitive array is arranged on the docking device; or, the positioning light source is disposed on the robot, and the photosensitive array is disposed on the docking device, as long as the positioning light source can form an excitation region on the photosensitive array when the first device and the second device are docked, which is not limited in the embodiments of the present disclosure.
The positioning light source forms a first excitation area on the photosensitive array, and the controller can obtain corresponding position information according to the first excitation area. The first excitation area can be obtained by real-time monitoring of the controller or obtained after the controller receives an alignment instruction. When the first device is in butt joint with the second device, the position information corresponding to the first excitation area can represent the relative position of the first device and the second device.
And step 204, controlling the second equipment to move according to the position information.
When the first equipment and the second equipment have connection deviation, the second equipment can be controlled to move according to the position information, so that the first equipment and the second equipment generate relative position change, and the connection position is adjusted. The second equipment can be a robot or a connection device, the connection device can be a mechanical arm, a movable carrying platform and the like, the connection position is adjusted, the robot can be controlled to move, and the connection device can also be controlled to move.
After the second device is moved once, a second excitation area of the positioning light source on the photosensitive array can be obtained again, and whether the moved second excitation area meets the preset condition or not is judged; when the second device performs multiple movements, a second excitation region of the positioning light source on the photosensitive array is acquired for each movement, and the number of the second excitation regions is at least one, and is specifically determined according to the number of movements of the second device. The second excitation area can be obtained by real-time monitoring after the controller moves the second device; the controller may also control the positioning light source to be turned on for reacquisition after a single movement of the second device.
And step 206, completing the connection positioning under the condition that the second excitation area meets the preset condition.
And under the condition that the second excitation area meets the preset condition, the first equipment and the second equipment meet the requirement of the connection positioning precision, and connection positioning can be completed. Or before controlling the second device to move, if the first excitation area meets the preset condition, the docking positioning can be directly completed.
For the specific way of the controller acquiring the location information and the controller controlling the second device to move, reference is made to the first embodiment, and details of the embodiments of the present disclosure are not repeated herein.
In the embodiment of the disclosure, the docking positioning method is used for docking positioning of a first device and a second device, wherein a photosensitive array is arranged on the first device, and a positioning light source is arranged on the second device. When the relative position of the first device and the second device changes, the relative position of the positioning light source and the photosensitive array is driven to change. The relative position of the first device and the second device can be obtained by utilizing the position information of the positioning light source in the excitation area of the photosensitive array, and then the second device is controlled to move according to the position information. By adopting the connection positioning method, the relative positions of the first equipment and the second equipment are adjusted only by matching the positioning light source and the photosensitive array, so that the first equipment and the second equipment can be accurately connected in a simple and convenient connection mode. And the positioning light source and the photosensitive array have simple structures and strong anti-interference capability, and the connection precision is greatly improved.
EXAMPLE III
Referring to fig. 3 to 4, schematic diagrams of a distribution system according to an embodiment of the present disclosure are shown, which are as follows:
in the embodiment of the present disclosure, the distribution system is configured to perform the above-mentioned docking positioning method. The delivery system includes: positioning a light source, a photosensitive array, first equipment and second equipment; the photosensitive array is arranged on the first equipment, and the positioning light source is arranged on the second equipment, wherein the photosensitive array comprises a plurality of photosensitive elements distributed in a matrix; the positioning light source and the photosensitive array are used for representing the relative positions of the first device and the second device.
Specifically, after the first device 30 and the second device 40 reach the preset docking area, the controller controls the positioning light source 401 on the second device 40 to turn on, where the positioning light source 401 includes: a gas laser, a solid laser, a semiconductor laser, or the like, which generates a laser light source and emits the laser light source onto the photosensitive array 50, thereby forming an excitation region on the photosensitive array 50. The first apparatus 30 is one of a robot or a docking device and the second apparatus 40 is the other of a robot or a docking device. For example, the positioning light source 401 is disposed on the robot, and the photosensitive array 50 is disposed on the docking device; alternatively, the positioning light source 401 is disposed on the docking device, and the photosensitive array 50 is disposed on the robot, as long as the positioning light source 401 can form an excitation region on the photosensitive array 50 when the first device 30 and the second device 40 are docked, which is not limited in this disclosure.
The photosensitive array 50 includes a plurality of photosensitive elements 501, the plurality of photosensitive elements 501 are distributed in a matrix, coordinates of each photosensitive element 501 are fixed, and when the photosensitive elements 501 are excited by an external light source, coordinates of the light source on the sensing detection system can be determined. The quantity of photosensitive element 501 can be selected according to the size of robot and connection mouth, in the within range that the space allows, increases photosensitive element 501's density of setting as far as possible, can promote the accuracy of location.
Optionally, the first device is one of a robot and a docking apparatus, and the second device is the other of the robot and the docking apparatus.
Specifically, the distribution cabinet is usually installed in a residential area or a business place, and a rider or a courier places goods in the distribution cabinet, and the distribution cabinet can support a user to pick up goods by himself or take out the goods from the distribution cabinet through a robot and distribute the goods to the corresponding user.
The delivery is provided with a plurality of storehouse bodies on the cabinet, can deposit many goods simultaneously, and the storehouse body is including door and opening, and door and opening set up relatively, and door one side is for the front of delivery cabinet, towards user, rider or express delivery person, is convenient for carry out getting of goods through the door and puts, and the opening sets up in the rear side of delivery cabinet for the dispatch of goods. The bin door can be controlled to be opened or closed through a control panel on the distribution cabinet, and can also be controlled to be opened or closed according to goods taking or placing information, and the bin door can be a folding door, a rolling door and the like.
Be provided with the mouth of connecing of robot on the delivery cabinet, through connecing the mouth and transmitting the goods in the delivery cabinet to the robot, or retrieve the carrier in the robot cabin, can also provide the fill potential for the robot to promote the duration of a journey ability of robot. The connection port is provided with a connection device which is used for connecting with the robot.
The first apparatus 30 may be one of a robot or a docking device and the second apparatus 40 may be the other of a robot or a docking device. For example, the first device 30 is a robot, and the second device 40 is a docking apparatus; similarly, the first device 30 is a docking apparatus and the second device 40 is a robot. When the connection positioning is carried out, the robot or the connection device moves to a preset area, and a bin body of the robot is in butt joint with an object placing area on the connection device, so that goods are transferred between the connection device and the robot.
The positioning light source can be arranged on the robot, and the photosensitive array can be arranged on the connecting device. Alternatively, the positioning light source may be disposed on the docking device, and the photosensitive array may be disposed on the robot. The specific positions of the positioning light source and the photosensitive array on the robot or the connection device respectively can be selected according to actual requirements, and the embodiment of the disclosure does not limit the specific positions.
Alternatively, referring to fig. 3 and 4, the number of the photosensitive arrays is at least two; the number of the positioning light sources is the same as that of the photosensitive arrays and corresponds to that of the photosensitive arrays one by one.
Specifically, the number of the photosensitive arrays 50 may be one, two, or more, and correspondingly, the number of the positioning light sources 401 may also be one, two, or more, and the number of the photosensitive arrays 50 is the same as the number of the positioning light sources 401 and corresponds to one, and each photosensitive array 50 corresponds to one positioning light source 401. The arrangement of at least two photosensitive arrays 50 and the positioning light source 401 can check and confirm the position information of the robot, and the problem of positioning error of a single array is avoided.
Referring to fig. 7 to 9, two specific ways of performing the goods dispatching by the delivery system are as follows:
the first method is as follows: a distribution cabinet-a connection device-a robot;
the second method comprises the following steps: a robot, a connecting device, a distribution cabinet;
in the first mode, referring to fig. 7, firstly, the distribution cabinet, secondly, the connection device, and thirdly, the robot are provided, and the specific flow is as follows:
(1) the distribution cabinet or the connection device provides power along the y-axis direction, goods arrive at the connection device from the distribution cabinet, the connection device is provided with a limit switch, and the goods are confirmed to be in place after the limit switch is triggered;
(2) after goods are in place, the connecting device transfers the goods to the connecting port of the distribution cabinet through the movement in the directions of the x axis, the y axis and the z axis to realize the butt joint with the robot;
(3) after the connection device is in butt joint with the robot, the connection device provides power along the y-axis direction, and goods are transmitted to the robot cabin body;
(4) and triggering a microswitch in the robot cabin body to confirm that the shipment is finished.
In the second embodiment, referring to fig. 8, the specific flow is as follows:
(1) the docking device is docked with the robot, the robot cabin or the docking device provides power along the y-axis direction, goods are transmitted to the docking device, and the limit switch on the docking device is triggered to confirm that the goods are in place;
(2) after goods are in place, the connection device is in butt joint with the opening of the distribution cabinet through movement in the directions of the x axis, the y axis and the z axis;
(3) after the connection device is in butt joint with the opening of the distribution cabinet, the connection device or the distribution cabinet provides power along the y-axis direction, and goods are transmitted into the distribution cabinet;
(4) the micro switch in the distribution cabinet is triggered to confirm that the goods are in place.
In the embodiment of the disclosure, a photosensitive array is arranged on the first device, and a positioning light source is arranged on the second device. When the relative position of the first device and the second device changes, the relative position of the positioning light source and the photosensitive array is driven to change. The relative position of the first device and the second device can be obtained by utilizing the position information of the positioning light source in the excitation area of the photosensitive array, and then the second device is controlled to move according to the position information. By adopting the connection positioning method, the relative positions of the first equipment and the second equipment are adjusted only by matching the positioning light source and the photosensitive array, so that the first equipment and the second equipment can be accurately connected in a simple and convenient connection mode. And the positioning light source and the photosensitive array have simple structures and strong anti-interference capability, and the connection precision is greatly improved.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the disclosure may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Various component embodiments of the present disclosure may be implemented in hardware. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the packaging apparatus and logistics system according to the present disclosure.
It should be noted that the above-mentioned embodiments illustrate rather than limit the disclosure, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is meant to be illustrative of the preferred embodiments of the present disclosure and not to be construed as limiting the disclosure, and any modifications, equivalents, improvements, etc. that fall within the spirit and scope of the present disclosure are intended to be included therein.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (11)
1. A docking positioning method for docking positioning of a first device and a second device, the docking positioning method comprising:
controlling the first equipment to be in a preset butt joint area;
triggering the second equipment to start a positioning light source;
according to a first excitation region of the positioning light source on the photosensitive array of the first device, acquiring position information corresponding to the first excitation region, wherein the position information is used for representing the relative position of the first device and the second device;
controlling the first equipment to move according to the position information;
acquiring a second excitation area of the positioning light source on the photosensitive array, and judging whether the second excitation area meets a preset condition;
and completing the connection positioning under the condition that the second excitation area meets the preset condition.
2. The docking positioning method of claim 1, wherein the acquiring, according to a first excitation area of the positioning light source on a first device photosensitive array, position information corresponding to the first excitation area comprises:
acquiring coordinate information of the center of the first excitation area on the photosensitive array;
and acquiring the position information according to the coordinate information and the relative position relation between the photosensitive array and the first equipment.
3. The docking positioning method of claim 1, wherein said controlling the first device to move according to the location information comprises:
acquiring a movement vector according to the position information and the relative position relation between the photosensitive array and the first equipment;
and controlling the first equipment to move according to the motion vector.
4. The docking positioning method of claim 1, wherein the acquiring a second excitation area of the positioning light source on the photosensitive array and determining whether the second excitation area meets a preset condition includes:
and judging whether the distance between the center coordinate of the second excitation area and the preset coordinate of the photosensitive array is smaller than a preset threshold value.
5. The docking positioning method according to claim 1, wherein the completing the docking positioning in case the second excitation area satisfies a preset condition comprises:
and when the distance between the center coordinate of the second excitation area and the preset coordinate of the photosensitive array is smaller than a preset threshold value and the aligning times of the first equipment and the second equipment are not larger than the preset times, completing the connection positioning.
6. The docking positioning method of claim 4, wherein after acquiring a second excitation area of the positioning light source on the photosensitive array and determining whether the second excitation area satisfies a preset condition, the method further comprises:
and sending a failure prompt of the connection positioning when the excitation area does not meet the preset condition and the alignment times of the first equipment and the second equipment are greater than the preset times.
7. The docking positioning method of claim 1, wherein said controlling the first device to be in a preset docking area comprises:
receiving a docking instruction;
and responding to the docking instruction, and controlling the first equipment to move to the preset docking area.
8. A docking positioning method for docking positioning of a first device and a second device, the docking positioning method comprising:
controlling the second equipment to be in a preset butt joint area;
responding to a trigger instruction of the first equipment, controlling the second equipment to turn on a positioning light source;
according to a first excitation region of the positioning light source on the photosensitive array of the first device, acquiring position information corresponding to the first excitation region, wherein the position information is used for representing the relative position of the first device and the second device;
controlling the second equipment to move according to the position information;
acquiring a second excitation area of the positioning light source on the photosensitive array, and judging whether the second excitation area meets a preset condition;
and completing the connection positioning under the condition that the second excitation area meets the preset condition.
9. A distribution system for performing the docking positioning method of any one of claims 1 to 8, the distribution system comprising: positioning a light source, a photosensitive array, first equipment and second equipment;
the photosensitive array is arranged on the first equipment, and the positioning light source is arranged on the second equipment, wherein the photosensitive array comprises a plurality of photosensitive elements which are distributed in a matrix manner;
the positioning light source and the photosensitive array are used for representing the relative positions of the first device and the second device.
10. The dispensing system of claim 9 wherein the first device is one of a robot and a docking apparatus and the second device is the other of the robot and the docking apparatus.
11. The dispensing system of claim 9 wherein the number of photosensitive arrays is at least two;
the number of the positioning light sources is the same as that of the photosensitive arrays and corresponds to that of the photosensitive arrays one by one.
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| CN202210122197.0A CN114610022A (en) | 2022-02-09 | 2022-02-09 | Connection positioning method and distribution system |
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