CN115231179A - Weighing-based robot distribution method and system and related products - Google Patents
Weighing-based robot distribution method and system and related products Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
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- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
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Abstract
The invention discloses a weighing-based robot distribution method, a weighing-based robot distribution system and related products, wherein the method comprises the following steps: acquiring distribution route information related to self-distribution tasks, wherein the distribution route information comprises a plurality of distribution point locations; after the robot goes to the goods placement points to complete the goods placement, the robot sequentially delivers goods to the plurality of delivery points according to the delivery route information; judging whether the weight of the articles in the bin box within a first preset time length changes or not, if so, judging whether the articles in the bin box are taken out or not according to the real-time weight of the articles, and if the articles in the bin box are judged to be taken out, returning the robot to a placing point, placing the articles in the bin box again, and then delivering the articles to a first non-delivery point of a delivery route. The invention avoids the problem that the robot stays for too long time at the unmanned site to influence the distribution efficiency, avoids the situation that the robot has no articles and continues to distribute at the rest distribution sites, and improves the distribution efficiency of the robot.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of robots, in particular to a weighing-based robot distribution method and system and related products.
[ background of the invention ]
With the development of the robot technology, the robot can complete tasks such as tour and guide, but the robot is rarely applied to a situation that needs unmanned delivery, such as a shelter hospital (a medical unit formed by combining a series of shelters with different medical or technical support functions). For the concentrated isolation treatment scene with higher infectious diseases, the robot can be used for distributing articles to reduce the contact with patients, so that the risk of infection is reduced. However, the existing robot cannot complete the distribution task in the shelter hospital.
Firstly, the existing robot can only complete point-to-point distribution, and returns to a goods receiving point after the distribution is completed, so that the distribution task cannot be completed quickly, and the collective distribution requirement of a large area cannot be met.
Secondly, the mobility of the patient in the shelter is large, an empty bed is always available, and the mobility of the patient is large and changes rapidly, so that the robot cannot master the patient in the bed in real time, the robot wastes much time on the empty bed during delivery, and the delivery efficiency of the robot is not improved. In addition, when the articles loaded by the robot are taken out, if the robot continues to go to other distribution points, the robot is an invalid distribution behavior, which also wastes the time of the robot and reduces the distribution efficiency.
In view of the foregoing, it is desirable to provide a weighing-based robot distribution method, system and related products to overcome the above-mentioned drawbacks.
[ summary of the invention ]
The invention aims to provide a weighing-based robot distribution method, a weighing-based robot distribution system and a related product, and aims to solve the problems that the existing robot is low in distribution efficiency and cannot meet the requirement of centralized distribution in a large area when unmanned distribution is carried out, and the distribution efficiency of the robot is improved.
In order to achieve the above object, a first aspect of the present invention provides a weighing-based robot distribution method, including:
s101, obtaining distribution route information related to self distribution tasks, wherein the distribution route information comprises a plurality of distribution point positions;
s102, after the robot goes to a goods placement point to finish goods taking, the robot sequentially goes to the distribution point to deliver goods according to the distribution route information;
s103, detecting the real-time weight of the articles in the bin after reaching the distribution point, judging whether the weight of the articles in the bin within a first preset time length changes or not, and if not, enabling the robot to go to the next distribution point; if so, judging whether the articles in the bin box are taken out completely according to the real-time article weight;
if the robot judges that the articles in the bin box are not completely taken out, the robot goes to the next distribution point; if the articles in the bin box are completely taken out and the delivery positions are not delivered, the robot re-executes the step S102 until the delivery of the last delivery position is completed.
In a preferred embodiment, before the robot goes to the next delivery point for delivery, the method comprises the following steps:
judging whether the distribution point location is the last distribution point location of the distribution route, if so, finishing the current distribution task after the distribution of the distribution point location is finished; if the result is negative, the robot continues to move to the next distribution point.
In a preferred embodiment, the weighing-based robot distribution method further comprises:
when the robot delivers goods at the delivery point, whether the current goods sent by the user through the human-computer interaction interface of the robot provide sufficient selection results or not is judged, and if the goods selected by the user are sufficient, whether the goods in the bin are taken out or not is judged according to the real-time weight of the goods; and if the user selects that the goods are insufficient, marking the current distribution point as undelivered, and returning the robot to the goods placement point to pick the goods and then continuing to return to the distribution point to continue the distribution.
In a preferred embodiment, the weighing-based robot distribution method further comprises:
after the robot picks up goods at the goods placing point, recording the initial weight of the goods in the bin box;
and when the robot delivers goods at each distribution point, calculating and recording the ratio of the taken-out articles or the taken-out amount of the articles in each distribution point according to the variation of the real-time weight of the articles at the current distribution point and the initial weight of the articles.
In a preferred embodiment, when the robot travels to a put point to pick a good, the method comprises:
calculating the target distribution amount of the remaining distribution points according to the ratio or the quantity of the taken out articles in each distribution point in the distribution route and the distribution progress of the robot;
the robot loads the target delivery amount of the article at the stocking point.
In a preferred embodiment, after the robot completes the distribution task of its own distribution route, the method further comprises:
acquiring a distribution route and a distribution progress of uncompleted distribution tasks;
and judging whether the robot corresponding to the distribution route completes distribution and needs to return to the goods placement point for goods taking or not according to the distribution progress, and taking over other robots for simultaneous distribution if the other robots do not complete distribution and need to return to the goods placement point for goods taking.
A second aspect of the invention provides a weighing-based robotic dispensing system comprising:
the distribution information acquisition module is used for acquiring distribution route information related to self distribution tasks, and the distribution route information comprises a plurality of distribution point positions;
the robot is used for going to a goods placing point to complete goods taking and then sequentially sending goods to the plurality of distribution points according to the distribution route information;
the weight detection and judgment module is used for detecting the real-time weight of the articles in the bin after the weight detection and judgment module reaches the distribution point, judging whether the weight of the articles in the bin within a first preset time length changes or not, and if not, enabling the robot to go to the next distribution point; if so, judging whether the articles in the bin are completely taken according to the real-time article weight;
the article taking and placing judgment module is used for judging whether the articles in the bin box are taken out or not according to the real-time article weight, and if the articles in the bin box are judged not to be taken out, the robot goes to the next distribution point; if the article in the box is completely taken and the delivery point location does not complete the delivery, the robot re-executes the step S102 until the delivery of the last delivery point location is completed.
A third aspect of the invention provides a terminal comprising a memory, a processor and a computer program stored in the memory, which when executed by the processor performs the steps of the method of weighing-based robot distribution as described in any one of the above embodiments.
A fourth aspect of the invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, carries out the steps of the method of weighing-based robot dispensing as claimed in any one of the above embodiments.
A fifth aspect of the invention provides a computer program product comprising a computer program or instructions which, when processed and executed, carries out the steps of the method of weighing-based robot dispensing as claimed in any one of the above embodiments.
According to the weighing-based robot delivery method, system and related products, when the robot delivers goods at the delivery point, whether the user takes the goods or not is judged through the change of the weight of the goods in the bin box within the first preset time, if the weight is not changed, the current delivery point is unmanned, the robot directly moves forward to the next delivery point, and the problem that the delivery efficiency is influenced due to the fact that the robot stays at the unmanned point for too long time is avoided. Meanwhile, when the weight of the articles in the bin box changes, whether the articles in the bin box are taken out or not can be judged according to the current weight of the articles, if the articles are taken out, the articles are returned to the goods placing point to take the articles for continuous delivery, the situation that the robot has no articles but continues to deliver at the remaining delivery points is avoided, and the delivery efficiency of the robot is further improved.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flow chart of a weighing-based robot delivery method provided by the present invention;
fig. 2 is a block diagram of a weighing-based robotic dispensing system provided by the present invention.
[ detailed description ] A
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are given by way of illustration only and not by way of limitation.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Example one
In the embodiment of the invention, a weighing-based robot distribution method is provided, and whether an article is taken out and the taking-out proportion are judged by measuring the weight of the article loaded by a robot in real time, so that the robot distribution efficiency is improved. The robot is internally provided with a weight sensor and a modularized bin box, the bin box is used for loading articles to be delivered, the weight sensor can measure the weight of the bin box and the total weight of the bin box and the articles, and therefore the robot can calculate the weight and the variable quantity of the articles in the bin box according to the weight data measured by the weight sensor.
As shown in fig. 1, the weighing-based robot dispensing method includes the following steps S101-S104.
Step S101, obtaining distribution route information related to self distribution tasks, wherein the distribution route information comprises a plurality of distribution points.
It needs to be explained first: the distribution route information sets a default distribution sequence of distribution points when being configured, the distribution points refer to distribution stop points in an area in charge of the robot, for example, the distribution points are beds in a shelter hospital, and the distribution points of the robot can be fixed or freely distributed; the delivery route refers to a route composed of delivery points according to a rule. For example, one robot needs to be responsible for the distribution of articles in adjacent 8 beds, each bed is a distribution point, and the route connecting the 8 beds and the delivery point is a distribution route. The distribution route can be generated by the control background according to the position information of a bed in a divided area, and can also be generated by the robot according to the position information of a distribution point and a delivery point, the distribution route of the robot at each time can be fixed, and can also be issued along with the distribution task, it can be seen that the cloud end can randomly send the distribution route needing distribution to different robots before distribution, the robots receive the task to execute the distribution task, the fixed robots can also be matched according to the area, and the distribution route information is stored in the robots at the moment. It can be understood that, since the number of the articles to be delivered at each delivery point may be different and the number of the articles that can be loaded in the magazine of the robot is limited, when the robot needs to take the articles from the delivery points repeatedly, the delivery route may be updated by the robot according to the position information of the remaining non-delivery points, or after the delivery at a certain delivery point is completed, the delivery point may be deleted from the delivery route, so as to avoid repeatedly passing through the delivered point.
When the distribution route is a fixed scheme, all beds in the shelter are divided according to areas, and each robot provides distribution service for patients living in the beds in the area where the robot is responsible. In order to reduce the waiting time of patients and improve the delivery efficiency when each robot delivers the service to the area in charge of the robot, the beds in each area can be grouped based on the delivery capacity of each robot, for example, 8 beds (the maximum value can be calculated according to the volume of the delivered articles and the volume of the robot bin) are grouped into one group, and the robot delivers 8 beds once, so that the delivery efficiency can be improved by 8 times; for the robot in the area, the distribution route is already configured, and the robot can call the distribution route each time the distribution task is executed.
And S102, after the robot goes to the goods placement point and finishes goods taking, the robot sequentially goes to the distribution point position according to the acquired distribution route information to deliver goods.
In this step, the robot first picks the goods from the point of delivery, and then delivers the goods to each bed in turn according to the order of the delivery points. In general, the delivery route delivers each bed in the order from the near to the far from the stock placement point. When the robot finishes the distribution of a certain distribution point, the distribution point is marked as a distributed point, and correspondingly, other non-distributed distribution points are non-distributed points.
Step S103, detecting the real-time weight of the articles in the bin after the robot reaches the distribution point, judging whether the weight of the articles in the bin within a first preset time length changes, and if not, moving the robot to the next distribution point; if the result is yes, whether the articles in the bin are taken out is judged according to the real-time article weight.
Specifically, when the robot stays at the distribution point, the weight of the real-time articles in the bin box is detected through the built-in weight sensor. The weight sensor detects the total weight of the bin and the articles, the weight of the articles is obtained by subtracting the dead weight of the bin from the total weight, and the dead weight of the bin can be measured when the bin is empty. The robot reserves goods taking time of a first preset time length at the distribution point, for example, 20s, if the weight of the article does not change within the time length, it indicates that the distribution point is unmanned, and at this time, the robot directly goes to the next distribution point in the distribution route to continue to perform the distribution task. If the weight of the articles changes in real time and generally shows that the weight is reduced, the fact that the articles are taken away by a person at the distribution point is indicated, and at the moment, whether the articles in the bin box are taken out or not can be judged according to the weight of the articles in the bin box, so that whether the robot needs to return to the goods placement point to continue to take the articles or not is determined.
It should be noted that, in some embodiments, if the real-time weight of the article changes within the first preset time period, the stopping time (for example, 10 s) of the robot at the distribution point for the second preset time period may be automatically continued, and then the robot may directly move to the next distribution point, or the stopping time period may be recalculated until the weight of the article at the distribution point does not change within the first preset time period, so that the user has sufficient time to pick up the article.
In addition, in some embodiments, when the real-time weight of the article changes, it may be that the weight of the article in the bin increases, for example, a user places an carelessly-taken or redundant article in the bin of the robot, but this does not affect the robot to deliver the article at the next delivery point, and at this time, it is still determined whether the article in the bin is completely removed from the bin based on the weight of the article in the bin.
Step S104, if the articles in the bin box are judged not to be taken out completely, the robot goes to the next distribution point; if the article in the box is judged to be completely taken, the robot re-executes the step S102 until the delivery of the last delivery point is completed, namely, the robot returns to the goods placing point to take the goods again and then delivers the goods to the first non-delivery point of the delivery route.
In the step, two ways are provided for judging whether the articles in the bin box are completely taken, namely judging whether the whole weight of the bin box is the same as the self weight of the bin box, if the whole weight of the bin box is the same as the self weight of the bin box, indicating that the bin box is unloaded, and then definitely finishing taking the articles in the bin box; and secondly, judging whether the weight of the articles in the bin box is lower than the preset weight, if so, determining that the articles are taken out completely, and taking the articles to a goods placing point. It can be appreciated that, for example, there may be at least two dispensers for each dispensing location, and when only one dispenser remains in the magazine, the dispensing of the next dispensing location is not necessarily enough, and the weight of the product in the magazine (e.g., the weight of only one dispenser) is lower than the predetermined weight (e.g., the weight of two dispensers), the efficiency of the dispensing can be improved by the robot picking the product from the pick-up location and then delivering the product to the next dispensing location.
It should be noted that, in the embodiments of the present invention, since there may be a certain error in the measurement and calculation of the weight of the article and the amount of weight change, and there may be a slight difference in the weight of each article to be delivered, an error threshold may be preset, and if the amount of weight change of the article obtained is determined to be lower than the preset error threshold, it may be determined that the weight of the article has not changed.
Further, in some embodiments, before the robot needs to forward to the next delivery point, i.e. the target delivery point, in any step, the method further includes the following steps: judging whether the target distribution point is the last distribution point of the distribution route, if so, indicating that all distribution points in the area in which the robot is responsible have been distributed, and finishing the current distribution task after the distribution of the target distribution point is finished; if the result is negative, the robot continues to move to the next distribution point.
Further, in some embodiments, when the robot delivers goods at the target delivery point, the method further comprises the steps of: whether the current article sent by the user through the human-computer interaction interface of the robot provides a sufficient selection result or not is judged, if the article selected by the user is sufficient, whether the article in the bin is completely taken out or not is judged according to the real-time article weight, or a selection button for judging whether the distribution is completed or not can be provided on the interaction interface; and if the user selects that the goods are insufficient, marking the target distribution point as a non-distribution point, and returning the robot to the goods placement point to pick the goods and then continuing to return to the target distribution point for continuous distribution.
It can be appreciated that the remaining items that were the last point of delivery may not meet the needs of the patient at the current point of delivery as delivery continues, so the robot may provide an option on a human-machine display interface (e.g., screen) for the user to select. When the user selects the articles to be insufficient, the screen of the robot can further provide a plurality of options of the article shortage quantity, so that the robot can take out the article quantity more than or equal to the user requirement when taking the articles at the goods placing point, and the times of taking the articles by the robot are reduced.
Further, in some embodiments, the method further comprises the steps of: after the robot picks up the goods at the goods placing point, recording the weight of the initial goods in the bin box; when the robot delivers goods at each delivery point, the ratio of the taken-out articles or the taken-out amount of the articles in each delivery point is calculated and recorded according to the variation of the real-time article weight of the current delivery point and the initial article weight.
It can be understood that the ratio of the articles taken out from the distribution point can be obtained by dividing the real-time article weight variation of the current distribution point by the initial article weight. Generally speaking, the initial weight of the articles is the weight of the full magazine, and when the robot is not full of articles when picking at the put point, the initial weight of the articles at this time can be correspondingly converted into the proportion of the full magazine, so as to facilitate statistics and recording of the proportion of the articles taken out from each distribution point under the unified caliber standard, and of course, the weight of the articles put in each put point can be recorded as the initial amount, for example, the weight of the articles put in the put point is 1.2KG, if the articles are taken out by 600g, the proportion of the articles taken out is 50%, and when the articles are taken out by 1.2KG, the proportion of the articles taken out is 100%, the robot needs to return to the put point.
Further, when the robot picks up the goods at the goods placing point, the method further comprises the following steps: calculating the target delivery volume of the rest delivery points according to the ratio of the articles taken out from each delivery point in the delivery route and the delivery progress of the robot; the robot loads the target delivery amount of articles at the put-point. That is, the robot can deliver the full capacity at each time, and also can adjust the loaded delivery amount according to the delivery progress, so that the articles loaded by the robot just can meet the article requirements of a plurality of delivery points or the rest delivery points (if the articles are delivered from the delivery points for the first time, all the delivery points need to be met), and the waste of the delivery capacity of the robot cannot be caused.
Further, in some embodiments, after the robot completes the distribution task of its own distribution route, the method further includes the following steps: acquiring a distribution route and a distribution progress of a robot which does not finish a distribution task; and judging whether the other robots finish delivery and need to return to the goods placement points to pick goods according to the delivery progress, and taking over the other robots to deliver simultaneously if the other robots do not finish delivery and need to return to the goods placement points to pick goods. As an embodiment, when a plurality of distribution routes for uncompleted distribution tasks exist, one distribution route closest to the stocking point is selected for distribution.
It can be understood that, since the situation of the delivery locations of the area in which each robot is responsible is different, there is a case where some robots have completed the delivery task and others have not completed the delivery task. When the robot corresponding to other routes does not complete the delivery tasks, needs to return to the goods placing point to pick up goods and then continues to execute the delivery tasks, the robot which has completed the tasks can take over and deliver the goods at the same time, the goods are delivered to the non-delivery points according to the delivery routes of the robot which does not complete the tasks, when the robot chooses to deliver the goods to a certain non-delivery point, the robot in the delivery route can be shared with the delivery point information in real time, or the real-time delivery information is sent to the corresponding robot through the cloud end, so that the cooperative scheduling of the delivery tasks of the multiple robots is realized, and the unmanned delivery efficiency in the whole scene is improved.
Example two
The invention provides a robot distribution system 100 based on weighing, which judges whether an article is taken out or not and the ratio of the taken out article by measuring the weight of the article loaded by a robot in real time, thereby improving the distribution efficiency of the robot. It should be noted that the implementation principle and the implementation manner of the weighing-based robot distribution system 100 are consistent with any of the embodiments of the weighing-based robot distribution method, and therefore, the following description is omitted.
As shown in fig. 2, the weighing-based robot dispensing system 100 includes:
a distribution information obtaining module 10, configured to obtain distribution route information related to a self-distribution task, where the distribution route information includes a plurality of distribution points;
the robot 20 is used for going to a goods placing point to pick up goods and then sequentially sending the goods to a plurality of distribution points according to distribution route information;
the weight detection and judgment module 30 is used for detecting the real-time weight of the articles in the bin after the robot reaches the distribution point, judging whether the weight of the articles in the bin within a first preset time is changed, and if not, the robot goes to the next distribution point; if so, judging whether the articles in the bin are completely taken according to the real-time article weight;
the article taking and placing judging module 40 is used for judging whether the articles in the bin box are taken out or not according to the real-time article weight, and if the articles in the bin box are not taken out, the robot goes to the next distribution point; and if the goods in the bin box are completely taken, returning the robot to the goods placing point, placing the goods in the bin box of the robot again, and then delivering the goods to the first un-delivery point of the delivery route.
Wherein, the robot is provided with a weight sensor inside, which can detect the weight of the bin box of the robot and the articles loaded by the bin box.
EXAMPLE III
The invention provides a terminal comprising a memory, a processor and a computer program stored in the memory, which when executed by the processor implements the steps of the weighing-based robot distribution method of any one of the above embodiments.
Example four
The present invention provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the weighing-based robot distribution method as claimed in any one of the above embodiments.
EXAMPLE five
The present invention provides a computer program product comprising a computer program or instructions which, when processed and executed, carry out the steps of the weighing-based robot distribution method of any one of the above embodiments.
In summary, according to the weighing-based robot delivery method, system and related products provided by the invention, when the robot delivers goods at the target delivery point, whether the user takes the goods is judged through the change of the weight of the goods in the bin within the preset time, if the weight is not changed, the current delivery point is unmanned, and the robot directly moves forward to the next delivery point, so that the problem that the delivery efficiency is influenced due to the fact that the robot stays at the unmanned point for too long time is avoided. Meanwhile, when the weight of the articles in the bin box changes, whether the articles in the bin box are taken out or not can be judged according to the current weight of the articles, if the articles are taken out, the articles are returned to the goods placing point to take the articles for continuous delivery, the situation that the robot has no articles but continues to deliver at the remaining delivery points is avoided, and the delivery efficiency of the robot is further improved.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above functions may be distributed as different functional units and modules according to needs, that is, the internal structure of the system may be divided into different functional units or modules to implement all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described or recited in any embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed system or apparatus/terminal device and method may be implemented in other ways. For example, the above-described system or apparatus/terminal device embodiments are merely illustrative, and for example, the division of the modules or units is only one type of logical function division, and other division manners may be available in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between systems or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A weighing-based robot distribution method is characterized by comprising the following steps:
s101, obtaining distribution route information related to self distribution tasks, wherein the distribution route information comprises a plurality of distribution point location information;
s102, after the robot goes to a goods placement point and finishes goods taking, the robot sequentially goes to the distribution point according to the obtained distribution route information to deliver goods;
s103, detecting the real-time weight of the articles in the bin after reaching the distribution point, judging whether the weight of the articles in the bin within a first preset time length changes or not, and if not, enabling the robot to go to the next distribution point; if so, judging whether the articles in the bin are completely taken according to the real-time article weight;
if the robot judges that the articles in the bin box are not completely taken out, the robot goes to the next distribution point; if the article in the box is completely taken and the delivery point location does not complete the delivery, the robot re-executes the step S102 until the delivery of the last delivery point location is completed.
2. The method for weight-based robot distribution of claim 1, further comprising, before the robot proceeds to the next distribution site for delivery:
judging whether the distribution point location is the last distribution point location of the distribution route, if so, finishing the current distribution task after the distribution of the distribution point location is finished; if the result is negative, the robot continues to move to the next distribution point.
3. The weighing-based robot dispensing method of claim 1, wherein the method further comprises:
when the robot delivers goods at the delivery point, whether the current goods sent by the user through the human-computer interaction interface of the robot provide sufficient selection results or not is judged, and if the goods selected by the user are sufficient, whether the goods in the bin are taken out or not is judged according to the real-time weight of the goods; and if the user selects that the goods are insufficient, marking the current distribution point as undelivered, and returning the robot to the goods placement point to pick the goods and then continuing to return to the distribution point to continue the distribution.
4. The weight-based robot dispensing method of claim 1, wherein the method further comprises:
after the robot picks up the goods at the goods placing point, recording the weight of the initial goods in the bin box;
and when the robot delivers goods at each distribution point, calculating and recording the ratio of the taken-out articles or the taken-out amount of the articles in each distribution point according to the variation of the real-time weight of the articles at the current distribution point and the initial weight of the articles.
5. The weight-based robot dispensing method of claim 4, wherein when the robot picks a good at the put point, comprising:
calculating the target distribution amount of the remaining distribution points according to the ratio or the quantity of the taken out articles in each distribution point in the distribution route and the distribution progress of the robot;
the robot loads the target delivery amount of the item at the put-point.
6. Weighing-based robot distribution method according to any of claims 1-5, characterized in that after the robot has completed the distribution task of its own distribution route, it further comprises:
acquiring a distribution route and a distribution progress of uncompleted distribution tasks;
and judging whether the robot corresponding to the distribution route completes distribution and needs to return to the goods placement point for goods taking or not according to the distribution progress, and taking over other robots for simultaneous distribution if the other robots do not complete distribution and need to return to the goods placement point for goods taking.
7. A weighing-based robotic dispensing system, comprising:
the distribution information acquisition module is used for acquiring distribution route information related to self distribution tasks, and the distribution route information comprises a plurality of distribution point positions;
the robot is used for going to a goods placing point to complete goods taking and then sequentially sending goods to the plurality of distribution points according to the distribution route information;
the weight detection and judgment module is used for detecting the real-time weight of the articles in the bin after the weight detection and judgment module reaches the distribution point, judging whether the weight of the articles in the bin within a first preset time length changes or not, and if not, enabling the robot to go to the next distribution point; if so, judging whether the articles in the bin are completely taken according to the real-time article weight;
the article taking and placing judging module is used for judging whether articles in the bin box are taken out completely according to the real-time article weight, and if the articles in the bin box are judged not to be taken out completely, the robot goes to the next distribution point; if the article in the box is completely taken and the delivery point location does not complete the delivery, the robot re-executes the step S102 until the delivery of the last delivery point location is completed.
8. A terminal, characterized in that it comprises a memory, a processor and a computer program stored in said memory, which computer program, when executed by said processor, carries out the steps of the weighing-based robot distribution method according to any one of claims 1-6.
9. A computer-readable storage medium, characterized in that it stores a computer program which, when being executed by a processor, carries out the steps of the weighing-based robot distribution method according to any one of claims 1-6.
10. A computer program product comprising a computer program or instructions which, when processed and executed, carry out the steps of the weighing-based robot distribution method according to any one of claims 1-6.
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