CN116277146A

CN116277146A - Control method and device for balancing weight, robot, medium and program product

Info

Publication number: CN116277146A
Application number: CN202111576457.3A
Authority: CN
Inventors: 任子佳; 曹董锋; 王思哲; 徐梓华
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2023-06-23

Abstract

The embodiment of the disclosure provides a control method, a device, a robot, a medium and a program product for balancing weights, wherein the method comprises the following steps: generating a control instruction of the balancing weight according to one or more of a picking and placing task corresponding to the robot, an action type of a picking and placing device of the robot, the weight of goods corresponding to the robot and the angular speed of the robot in all directions, which are output by an angular speed sensor arranged on the robot; controlling the balancing weight to move according to the control instruction so as to balance the robot; the robot comprises a robot storage area, a robot picking and placing device and one or more of the goods to be picked up by the robot, the balancing weight is controlled by self-adaptive movement, balance of the robot during task execution is guaranteed, the robot is prevented from shaking greatly and side turning even, and stability and safety of the robot picking and placing operation are improved.

Description

Control method and device for balancing weight, robot, medium and program product

Technical Field

The disclosure relates to the technical field of intelligent storage, in particular to a control method and device of balancing weights, a robot, a medium and a program product.

Background

Warehousing is an important link in the logistic process. The robot can replace manual goods carrying and plays an important role in intelligent warehouse logistics.

The robot is getting the in-process of putting goods, along with the action of getting the goods put device of robot, the barycenter of robot can change, and the goods that bear when the robot is overweight, in the in-process of getting the goods put at the robot, can lead to the robot to produce to rock and topple over even, consequently, need increase the balancing weight to improve the stability of robot.

However, the balancing weights in the related art are usually fixed balancing weights, and the balancing capability to the mass center of the robot is limited, which cannot meet the requirements.

Disclosure of Invention

The present disclosure provides a control method, apparatus, robot, medium and program product for balancing weight, by moving balancing weight, flexibility of robot mass center adjustment is improved, thereby improving stability when robot works.

In a first aspect, an embodiment of the present disclosure provides a control method of a balancing weight, where the method is applied to a robot, the robot includes a moving chassis and a balancing weight disposed on the moving chassis, and the method includes:

generating a control instruction of the balancing weight according to one or more of a picking and placing task corresponding to a robot, an action type of a picking and placing device of the robot, the weight of goods corresponding to the robot and the angular speed of the robot in all directions, which are output by an angular speed sensor arranged on the robot; controlling the balancing weight to move according to the control instruction so as to balance the robot; the goods corresponding to the robot comprise one or more of goods placed on a goods storage area of the robot, goods on a goods taking and placing device of the robot and goods to be extracted by the robot.

Optionally, according to one or more of a picking and placing task corresponding to a robot, an action type of a picking and placing device of the robot, a weight of goods corresponding to the robot, and an angular velocity of the robot in each direction output by an angular velocity sensor set on the robot, a control instruction of the balancing weight is generated, including:

when the movement type of the pick-and-place device is a vertical type, generating a control instruction of the balancing weight according to the mass center of the robot, the mass center of the balancing weight, the mass center of the pick-and-place device, the weight of the balancing weight and the weight of the pick-and-place device so that the mass center of the robot, the mass center of the balancing weight and the mass center of the pick-and-place device are collinear, and the product of the weight of the balancing weight and the first distance is larger than or equal to the product of the weight of the pick-and-place device and the second distance; the first distance is the distance between the mass center of the balancing weight and the mass center of the robot, and the second distance is the distance between the mass center of the pick-and-place device and the mass center of the robot.

When the motion type of the pick-and-place device is a horizontal type, generating a control instruction of the balancing weight according to the angular speeds of the robot in all directions, which are output by the angular speed sensor arranged on the robot.

Optionally, the generating the control instruction of the balancing weight according to the angular speed of the robot in each direction output by the angular speed sensor set on the robot includes:

determining the combined angular velocity of the robot according to the angular velocities of the robot in all directions, which are output by an angular velocity sensor arranged on the robot; and generating a control instruction of the balancing weight according to the angular velocity of the robot.

Optionally, generating the control instruction of the balancing weight according to the angular velocity of the robot includes:

determining the target position and the moving speed of the balancing weight according to the angular velocity of the robot; and generating a control instruction of the balancing weight according to the target position and the moving speed of the balancing weight.

Correspondingly, according to the control instruction, controlling the balancing weight to move comprises the following steps:

and controlling the balancing weight to move to the target position according to the moving speed according to the control instruction.

determining a centroid offset parameter of a robot according to one or more of a pick-and-place task corresponding to the robot, an action type of a pick-and-place device of the robot and a weight of goods corresponding to the robot; and generating a control instruction of the balancing weight according to the mass center offset parameter of the robot.

Optionally, determining the centroid offset parameter of the robot according to one or more of a pick-and-place task corresponding to the robot, an action type of a pick-and-place device of the robot, and a weight of a cargo corresponding to the robot includes:

determining a motion track of the pick-and-place device of the robot according to a pick-and-place task corresponding to the robot or the action type of the pick-and-place device of the robot; and determining mass center offset parameters of the robot at each time node during the action of the pick-and-place device according to the motion track of the pick-and-place device of the robot and the weight of the goods corresponding to the robot.

Correspondingly, generating a control instruction of the balancing weight according to the mass center offset parameter of the robot, including:

and generating control instructions of the balancing weights corresponding to all the time nodes according to the mass center offset parameters of the robot at all the time nodes during the action of the pick-and-place device.

Optionally, determining the motion track of the pick-and-place device of the robot according to the pick-and-place task corresponding to the robot or the action type of the pick-and-place device of the robot includes:

determining a motion track of the pick-and-place device of the robot according to the pick-and-place task corresponding to the robot or the action type of the pick-and-place device of the robot and a first corresponding relation established in advance; the first correspondence is used for describing a correspondence between a motion track of the pick-and-place device and one or two of a pick-and-place task corresponding to the robot and an action type of the pick-and-place device of the robot.

Optionally, after generating the control instruction of the balancing weight corresponding to each time node according to the centroid offset parameter of the robot at each time node during the action of the pick-and-place device, the method further includes:

For each time node, during the period of moving the configuration block based on a control instruction corresponding to the time node, acquiring the angular velocity output by the angular velocity sensor corresponding to the time node, and acquiring the combined angular velocity corresponding to the time node according to the angular velocity output by the angular velocity sensor corresponding to the time node; according to the angular velocity corresponding to each time node, the new target position of the balancing weight corresponding to each time node; and for each time node, modifying a control instruction of the balancing weight corresponding to the time node according to the target position of the balancing weight corresponding to the time node so as to control the balancing weight to move to the target position corresponding to the time node.

Optionally, the method further comprises:

and determining the movement type of the pick-and-place device according to the operation parameters of the driving motor of the pick-and-place device.

In a second aspect, an embodiment of the present disclosure further provides a control device for a balancing weight, the device being applied to a robot, the robot including a moving chassis and a balancing weight, the balancing weight being disposed on the moving chassis, the device including:

The instruction generation module is used for generating a control instruction of the balancing weight according to one or more of a picking and placing task corresponding to the robot, an action type of a picking and placing device of the robot, the weight of goods corresponding to the robot and the angular speed of the robot in all directions, which are output by an angular speed sensor arranged on the robot; the control module is used for controlling the balancing weight to move according to the control instruction so as to balance the robot; the goods corresponding to the robot comprise one or more of goods placed on a goods storage area of the robot, goods on a goods taking and placing device of the robot and goods to be extracted by the robot.

In a third aspect, embodiments of the present disclosure further provide a robot, including: the balancing weight is arranged on the movable chassis, and the at least one processor is used for executing the control method of the balancing weight provided by any embodiment corresponding to the first aspect of the disclosure.

In a fourth aspect, an embodiment of the present disclosure further provides a computer readable storage medium, where a computer executing instruction is stored, and when a processor executes the computer executing instruction, a control method of the balancing weight provided in any embodiment corresponding to the first aspect of the present disclosure is implemented.

In a fifth aspect, embodiments of the present disclosure further provide a computer program product, including a computer program, where the computer program when executed by a processor implements a method for controlling a balancing weight according to any embodiment corresponding to the first aspect of the present disclosure.

According to the control method, the device, the robot, the medium and the program product of the balancing weight, aiming at the robot with the movable balancing weight arranged on the movable chassis, according to one or more of the pick-and-place task corresponding to the robot, the action type of the pick-and-place device, the weight of goods corresponding to the robot and the angular speed of the robot in all directions, which are output by the angular speed sensor, the control instruction of the balancing weight is generated, so that the balancing weight is moved based on the control instruction, the robot is balanced, the robot is prevented from shaking greatly during operation, the stability and the safety of the operation of the robot are improved, and the flexibility of the balancing control of the robot is improved through the movable balancing weight, so that the robot can carry goods in a large weight range, and the operation range of the robot is enlarged.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Fig. 1A is a schematic structural view of a robot according to an embodiment of the present disclosure;

FIG. 1B is a schematic view of the mobile chassis of the robot of FIG. 1A;

FIG. 1C is a schematic diagram of a second structure of the mobile chassis of the robot of FIG. 1A;

FIG. 1D is a schematic view of a counterweight module of the robot of FIG. 1B;

FIG. 1E is a schematic diagram II of a counterweight module of the robot of FIG. 1B;

FIG. 1F is an exploded view of an adjustment mechanism of the counterweight module of FIG. 1B;

FIG. 1G is a schematic view of a first connector of the adjustment mechanism of the counterweight module of FIG. 1D;

FIG. 1H is a schematic view of the counterweight block of the counterweight module of the robot of FIG. 1B;

FIG. 2 is a flow chart of a method for controlling a balancing weight according to one embodiment of the present disclosure;

FIG. 3 is a flowchart of a method for controlling a balancing weight according to another embodiment of the present disclosure;

FIG. 4 is a flowchart of a method for controlling a balancing weight according to another embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a control device for balancing weights according to an embodiment of the present disclosure;

fig. 6 is a schematic structural view of a robot according to an embodiment of the present disclosure.

Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.

The following describes the technical solutions of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

The application scenario of the embodiments of the present disclosure is explained below:

in order to improve the transfer efficiency of the robot, the main body structure of the robot performing the transfer task is generally provided with a certain height to support the robot to transfer a plurality of cargoes onto a moving chassis or a shelf of the robot. For the robot, when carrying out operations such as carrying goods, picking and placing goods, stacking, unstacking and the like, the gravity center or the mass center of the robot is deviated due to the change of the weight of the loaded goods or the position of the goods, so that the robot can generate larger shaking and even rollover, and the goods stored in the goods and the robot are damaged, so that certain loss is caused.

In order to improve the balance of the robot during operation, in the prior art, a fixed balancing weight is arranged on a movable chassis of the robot so as to reduce the gravity center of the robot and avoid rollover caused by large fluctuation of the gravity center of the robot in the process of carrying and moving goods.

Through the balanced mode of fixed balancing weight, the ability to the focus adjustment of robot is limited, and when the goods that the robot carried are overweight, or the robot moves the goods along the horizontal direction, the focus or the barycenter of robot still can take place great skew to take place great range when leading to the robot operation and rock, bump easily, the robot operation security is relatively poor.

In order to improve flexibility of mass center or mass center adjustment of a robot and thus improve stability of robot operation, an embodiment of the disclosure provides a robot with a movable balancing weight arranged on a movable chassis and a control method of the configuration block, wherein the control method mainly comprises the following steps:

FIG. 1A is a schematic view of another robot provided in an embodiment of the present disclosure; FIG. 1B is a schematic view of the mobile chassis of the robot of FIG. 1A; FIG. 1C is a schematic diagram of a second structure of the mobile chassis of the robot of FIG. 1A; FIG. 1D is a schematic view of a counterweight module of the robot of FIG. 1B; FIG. 1E is a schematic diagram II of a counterweight module of the robot of FIG. 1B; FIG. 1F is an exploded view of an adjustment mechanism of the counterweight module of FIG. 1B; FIG. 1G is a schematic view of a first connector of the adjustment mechanism of the counterweight module of FIG. 1D; fig. 1H is a schematic structural view of a counterweight in a counterweight module of the robot of fig. 1B.

Referring to fig. 1A through 1H, the disclosed embodiment provides a robot 100 including a mobile chassis 10, a main body structure 20, and a counterweight module 30. The main structure 20 is disposed above the mobile chassis 10, and the main structure 20 may be used to perform functions of picking, placing, stacking, unstacking, and carrying goods of the robot 100.

For example, a plurality of rollers may be disposed at the bottom of the mobile chassis 10, the rollers may be universal rollers, the rollers may drive the mobile chassis 10 to move, and a roller driving mechanism may be disposed inside the mobile chassis 10, and the roller driving mechanism may drive the rollers to rotate and drive the mobile chassis 10 to move, so that the mobile chassis 10 may carry the main body structure 20 and the goods placed on the mobile chassis 10 to move.

The counterweight module 30 is disposed in the horizontal plane of the mobile chassis 10. Illustratively, the mobile chassis 10 may include a bottom plate 11, a top plate, and a side plate 12, the side plate 12 being enclosed between the bottom plate 11 and the top plate along a circumference of the bottom plate 11, the weight module 30 may be disposed on a side of the bottom plate 11 facing the top plate, or the weight module 30 may be disposed on a side of the bottom plate 11 facing away from the top plate, or the weight module 30 may be disposed on a side of the top plate facing the bottom plate 11, or the weight module 30 may be disposed on a side of the top plate facing away from the bottom plate 11.

The counterweight module 30 includes an adjusting mechanism 31 and a counterweight 32, where the adjusting mechanism 31 is connected with the counterweight 32, and the counterweight 32 can be driven by the adjusting mechanism 31 to move in the horizontal plane of the moving chassis 10, so that the counterweight can adaptively move according to the position change of the main structure above the moving chassis, the weight and position change of the goods, that is, the counterweight module 30 can adjust the center of gravity of the robot 100 when the main structure 20 performs the actions of picking, placing, stacking, unstacking, carrying the goods, and the like, so that the robot 100 is kept stable.

Referring to fig. 1B and 1C, in a first embodiment, the adjustment mechanism 31 may include a first adjustment sub-mechanism 311, where the first adjustment sub-mechanism 311 drives the weight 32 to move along a first direction. In a second embodiment, the adjusting mechanism 31 may include a second adjusting sub-mechanism 312, where the second adjusting sub-mechanism 312 drives the balancing weight 32 to move along the second direction. In the third embodiment, the adjusting mechanism 31 may include a first adjusting sub-mechanism 311 and a second adjusting sub-mechanism 312, where the first adjusting sub-mechanism 311 and the second adjusting sub-mechanism 312 may individually drive the balancing weight 32 to move, or may jointly drive the balancing weight 32 to move.

The included angle between the first direction and the second direction is optionally right angle, acute angle or obtuse angle, and the specific angle of the included angle between the first direction and the second direction can be designed according to actual needs without specific limitation.

For example, the first direction may be a traveling direction of the robot 100, and the second direction may be a direction perpendicular to the traveling direction of the robot 100. Alternatively, the second direction may be a traveling direction of the robot 100, and the first direction may be a direction perpendicular to the traveling direction of the robot 100. Or, the first direction and the second direction may be defined as other two directions in the horizontal plane according to actual needs, so long as the requirements of the embodiment can be met, and no description is repeated here.

Referring to fig. 1D, the first adjustment sub-mechanism 311 may include a first drive assembly 3111, a first link 3112, and a first driver 3113. The first driving assembly 3111 is coupled to the first link 3112, the first link 3112 is coupled to the first driving member 3113, and the first driving member 3113 is coupled to or abuts the weight 32.

In particular, the first driving component 3111 drives the first connector 3112, the first connector 3112 drives the first driving component 3113, and the first driving component 3113 drives the counterweight 32 to move along the first direction.

Referring to fig. 1E and 1F, the first driving assembly 3111 may include a first motor 3111a, a first driving wheel 3111b, a first driven wheel 3111c, and a first transmission belt 3111d. The first motor 3111a is in transmission connection with the first driving wheel 3111b, the first driving wheel 3111b and the first driven wheel 3111c are arranged at intervals along a first direction, and the first driving belt 3111d is wound on the first driving wheel 3111b and the first driven wheel 3111 c. The first end of the first link 3112 is fixedly coupled to the first belt 3111d, and the second end of the first link 3112 is fixedly coupled to the first belt 3113.

For example, the first motor 3111a may be selected from various types of motors known to those skilled in the art according to actual needs. The first driving wheel 3111b, the first driven wheel 3111c and the first power transmission belt 3111d may be a main gear, a sub gear and a chain, or may be a main pulley, a sub pulley, a conveyor belt, or the like. Referring to fig. 1G, a first end of the first connector 3112 may be provided with a fixing sleeve, which may be fixedly sleeved on the first belt 3111 d; the first connector 3112 may also clamp the first belt 3111d from both sides of the first belt 3111d, or may be fastened to the first belt 3111d by a fastener. The second end of the first connector 3112 may be snapped, welded or fastened to the first driver 3113.

In particular, the first motor 3111a drives the first driving wheel 3111b to rotate, the first driving wheel 3111b drives the first driven wheel 3111c to rotate through the first driving belt 3111d, and the first driving belt 3111d drives the first driving member 3113 to move through the first connecting member 3112, so that the first driving member 3113 drives the counterweight 32 to move along the first direction.

Referring to fig. 1E and 1F, the first driving member 3113 may include two first connecting rods 3113a and two first driving rods 3113b, the two first connecting rods 3113a extend along a first direction, the two first driving rods 3113b extend along a second direction, and the two first connecting rods 3113a and the two first driving rods 3113b are connected end to form a quadrangle, for example, a parallelogram or a rectangle. The second end of the first link 3112 is fixedly coupled to one of the two first link bars 3113a, and the weight 32 is sandwiched between the two first driving bars 3113 b.

In particular, the first connector 3112 drives the two first driving rods 3113b to reciprocate along the first direction through the first connecting rod 3113a, and the two first driving rods 3113b drive the balancing weights 32 to reciprocate along the first direction.

Referring to fig. 1D and 1F, the first adjustment sub-mechanism 311 may further include two first sliding rails 3114 extending along the first direction, where the two first sliding rails 3114 are parallel and spaced apart in a horizontal plane of the mobile chassis 10; the two first connecting rods 3113a are respectively matched with the two first sliding rails 3114 to slide, and the two first driving rods 3113b and the balancing weights 32 are located between the two first sliding rails 3114.

In particular, when the two first sliding rails 3114 can guide and limit the sliding of the two first connecting rods 3113a, so that the reliability and smoothness of the sliding of the two first connecting rods 3113a and the two first driving rods 3113b along the first direction can be ensured, and further the reliability and smoothness of the sliding of the two first driving rods 3113b and the balancing weights 32 along the first direction can be ensured.

Referring to fig. 1F, optionally, a first sliding block 3114a sliding along the first sliding rail 3114 is provided on the first sliding rail 3114, a first fixing block 3113c is provided on the first connecting rod 3113a, and the first fixing block 3113c is fixedly connected to the first sliding block 3114 a; the second end of the first link 3112 is fixedly coupled to the first fixed block 3113 c.

Illustratively, the second end of the first connector 3112, the first fixed block 3113c and the first slider 3114a may be fastened together by screw fastening, or may be fastened together by clamping, welding, or the like.

In particular, the first connecting member 3112 drives the first connecting rod 3113a to slide along the first sliding rail 3114 through the first fixing block 3113c and the first slider 3114a, so that the first connecting rod 3113a drives the first driving rod 3113b, and the first driving rod 3113b drives the balancing weight 32 to move along the first direction.

Referring to fig. 1D, second adjustment sub-mechanism 312 may include a second drive assembly 3121, a second connection member 3122, and a second entrainer member 3123. The second driving assembly 3121 is connected to the second connection member 3122, the second connection member 3122 is connected to the second driving member 3123, and the second driving member 3123 is connected to or abuts the weight 32.

In particular, the second driving component 3121 drives the second connecting member 3122, the second connecting member 3122 drives the second driving member 3123, and the second driving member 3123 drives the balancing weight 32 to move along the second direction.

Referring to fig. 1E and 1F, the second driving assembly 3121 may include a second motor 3121a, a second driving wheel 3121b, a second driven wheel 3121c, and a second transmission belt 3121d. The second motor 3121a is in transmission connection with the second driving wheel 3121b, the second driving wheel 3121b and the second driven wheel 3121c are arranged at intervals along the second direction, and the second driving belt 3121d is wound on the second driving wheel 3121b and the second driven wheel 3121 c. The first end of the second connection member 3122 is fixedly coupled to the second belt 3121d and the second end of the second connection member 3122 is fixedly coupled to the second belt 3123.

For example, the second motor 3121a may be selected from various types of motors known to those skilled in the art according to actual needs. The second driving pulley 3121b, the second driven pulley 3121c, and the second transmission belt 3121d may be a main gear, a secondary gear, and a chain, or may be a main pulley, a secondary pulley, a conveyor belt, or the like. Referring to fig. 1G, a first end of the second connection member 3122 may be provided with a fixing sleeve, which may be fixedly sleeved on the second transmission belt 3121 d; the second connection member 3122 may also clamp the second transmission belt 3121d from both sides of the second transmission belt 3121d or be fastened to the second transmission belt 3121d by a fastener. A second end of second attachment member 3122 may be snapped, welded, or fastened with a fastener with second driver member 3123.

In particular, when the second motor 3121a drives the second driving wheel 3121b to rotate, the second driving wheel 3121b drives the second driven wheel 3121c to rotate through the second driving belt 3121d, and the second driving belt 3121d drives the second driving member 3123 to move through the second connecting member 3122, so that the second driving member 3123 drives the balancing weight 32 to move along the second direction.

Referring to fig. 1E and 1F, the second driver 3123 may include two second connection rods 3123a and two second driver rods 3123b, the two second connection rods 3123a each extend along the second direction, the two second driver rods 3123b each extend along the first direction, and the two second connection rods 3123a and the two second driver rods 3123b are connected end to form a quadrilateral, for example, a parallelogram or a rectangle. The second end of the second connection member 3122 is fixedly connected to one of the two second connection rods 3123a, and the weight 32 is sandwiched between the two second driving rods 3123 b.

In particular, the second connecting member 3122 drives the two second driving rods 3123b to reciprocate along the second direction through the second connecting rod 3123a, and the two second driving rods 3123b drive the balancing weights 32 to reciprocate along the second direction.

Referring to fig. 1D and 1F, the second adjustment sub-mechanism 312 may further include two second sliding rails 3124 extending in the second direction, the two second sliding rails 3124 being parallel and spaced apart in a horizontal plane of the mobile chassis 10; the two second connecting rods 3123a are respectively matched with the two second sliding rails 3124 to slide, and the two second driving rods 3123b and the balancing weights 32 are both positioned between the two second sliding rails 3124.

In particular, during implementation, the two second sliding rails 3124 can play a role in guiding and limiting the sliding of the two second connecting rods 3123a, so that the reliability and smoothness of the sliding of the two second connecting rods 3123a driving the two second driving rods 3123b along the second direction can be ensured, and further the reliability and smoothness of the sliding of the two second driving rods 3123b driving the balancing weights 32 along the second direction can be ensured.

Referring to fig. 1F, optionally, a second slider 3124a sliding along the second slider 3124 is provided on the second slider 3124, and a second fixing block 3123c is provided on the second connecting rod 3123a, and the second fixing block 3123c is fixedly connected with the second slider 3124 a; the second end of the second connection member 3122 is fixedly coupled to the second fixed block 3123 c.

Illustratively, the second end of second attachment member 3122, second stationary block 3123c and second slider 3124a may be secured together by screws, or may be secured together by snaps, welding, or the like.

In particular, the second connecting member 3122 drives the second connecting rod 3123a to slide along the second sliding rail 3124 through the second fixing block 3123c and the second sliding block 3124a, so that the second connecting rod 3123a drives the second driving rod 3123b, and the second driving rod 3123b drives the balancing weight 32 to move along the second direction.

In one embodiment, a face of the weight 32 facing a horizontal plane of the moving chassis 10 supporting the weight 32 to slide may be set as a smooth face; the area of the horizontal surface of the mobile chassis 10 where the weight 32 slides may be provided as a smooth surface. Thereby reducing friction between the weight 32 and the horizontal plane of the moving chassis 10 and further ensuring smooth sliding of the weight 32 in the horizontal plane of the moving chassis 10.

For example, when the weight 32 is disposed on the side of the bottom plate 11 of the moving chassis 10 facing the top plate, the side of the weight 32 facing the bottom plate 11 may be set as a smooth surface, and the side of the bottom plate 11 facing the top plate may be set as a smooth surface, so that the weight 32 may smoothly slide on the side of the bottom plate 11 facing the top plate.

Referring to fig. 1H, one surface of the weight 32 facing the horizontal surface of the moving chassis 10 that supports the movement of the weight 32, or a region of the horizontal surface of the moving chassis 10 where the weight 32 moves, is provided with a universal ball 321 or a universal roller. Thereby reducing the friction between the weight 32 and the horizontal plane of the movable chassis 10 and further ensuring smooth movement of the weight 32 in the horizontal plane of the movable chassis 10.

For example, when the weight 32 is disposed on a side of the bottom plate 11 of the moving chassis 10 facing the top plate, the universal ball 321 or the universal roller may be disposed on a side of the weight 32 facing the bottom plate 11, or the universal ball 321 or the universal roller may be disposed on a side of the bottom plate 11 facing the top plate, so that the weight 32 may smoothly slide on a side of the bottom plate 11 facing the top plate.

Alternatively, the weight 32 may be set to move in the entire horizontal plane of the moving chassis 10, or the weight 32 may be set to move in a part of the horizontal plane of the moving chassis 10, depending on the space occupation condition of the horizontal plane of the moving chassis.

Referring to fig. 1A, the main body structure 20 includes a column frame 21, a fork assembly 22, and a handling mechanism 23, the column frame 21 being provided on the mobile chassis 10, the fork assembly 22 and the handling mechanism 23 being provided on the column frame 21. Illustratively, the stud frame 20 may include one stud, two studs, or a plurality of studs. The fork assembly 22 and the handling mechanism 40 may be connected directly to the uprights of the upright frame 20 or may be connected by connectors.

A stacking position is arranged on the mobile chassis 10; the fork assembly 22 can move relative to the upright frame 21 along a first horizontal direction or a vertical direction to drive the goods to approach or depart from the stacking position. The carrying mechanism is located above the stacking position, and the carrying mechanism 23 can move up and down or along the second horizontal direction relative to the upright frame 21 to carry the cargo 40. For example, the first horizontal direction may be a traveling direction of the robot, and the second horizontal direction may be a direction perpendicular to the traveling direction of the robot.

With continued reference to FIG. 1A, in particular implementations, the fork assembly 22 can be moved in a lifting direction to pick up items from different storage levels of the pallet; the fork assembly 22 carrying the cargo can be moved in a first horizontal direction adjacent to the palletizing location and the cargo can be deposited at the palletizing location; the fork assembly 22 can return to the pallet to continue picking and stacking the load to the palletized load. In this process, the balancing weight 32 of the balancing weight module 30 can be driven by the adjusting mechanism 31 to move in coordination with the movement of the fork assembly 22 and the change of the weight of the goods on the moving chassis, so that the center of gravity of the robot is kept stable, and the stability of the robot is ensured.

Illustratively, the fork assembly 22 may utilize a telescopic arm to transfer the goods on the shelf into the fork assembly 22 in a clasping manner, may utilize a telescopic arm to transfer the goods on the shelf into the fork assembly 22 in a pushing and pulling manner, and may also utilize a suction cup to transfer the goods on the shelf into the fork assembly 22 in an absorbing manner.

The carrying mechanism 40 can move up and down above the stacking position along the lifting direction so as to lift the cargoes at the stacking position; the carrying mechanism 40 carrying the cargo may be moved in the second horizontal direction to above the side of the moving chassis 10 and lowered in the lifting direction to carry the cargo to the side of the moving chassis 10. Of course, the carrying mechanism 40 may carry the cargo laterally of the mobile chassis 10 to the stacking position. In this process, the balancing weight 32 of the balancing weight module 30 can be driven by the adjusting mechanism 31 to move in coordination with the movement of the carrying mechanism 40 and the change of the weight of the goods on the moving chassis, so as to keep the center of gravity of the robot stable, thereby ensuring the stability of the robot.

Optionally, the robot further includes a control module and a detection module, the detection module is electrically connected with the control module, and the control module is electrically connected with the counterweight module 30; the detection module is configured to detect the position of the center of gravity of the robot and transmit the detected position to the control module, and the control module is configured to control the operation of the counterweight module 30 according to the data of the position of the center of gravity so as to adjust the position of the center of gravity of the robot.

To sum up, the robot provided by the embodiment of the disclosure includes a mobile chassis, a main structure and a counterweight module, the main structure is disposed above the mobile chassis, and the counterweight module is disposed in a horizontal plane of the mobile chassis. Through setting up the counter weight module and including adjustment mechanism and balancing weight, adjustment mechanism and balancing weight are connected, and the balancing weight can be under adjustment mechanism's drive, removes in the horizontal plane of moving the chassis to make the balancing weight can be according to the change of the position of the major structure of moving the chassis top, the weight and the change of position etc. of goods, the removal of adaptability, with the focus position of nimble adjustment robot, make the focus position of robot keep stable, guarantee the stability and the security of robot.

Fig. 2 is a flowchart of a control method of a balancing weight according to an embodiment of the present disclosure, and as shown in fig. 2, the control method of a balancing weight is applicable to a robot with a movable balancing weight disposed on a movable chassis, where the robot may be the robot 100 provided in any of the foregoing embodiments, and the method may be executed by a processor on the robot. The control method of the balancing weight provided by the embodiment comprises the following steps:

Step S201, generating a control instruction of the balancing weight according to one or more of a picking and placing task corresponding to a robot, an action type of a picking and placing device of the robot, a weight of goods corresponding to the robot, and an angular velocity of the robot in each direction output by an angular velocity sensor arranged on the robot.

The goods corresponding to the robot, such as a material box, a container and the like, comprise one or more of goods placed on a goods storage area of the robot, goods on a goods taking and placing device of the robot and goods to be extracted by the robot. The robot goods storage area is an area special for goods storage, which is arranged on the robot, and can be an area on the movable chassis, such as a middle area of the movable chassis, and can also be a temporary storage shelf of the robot. The balancing weight can be any object with larger weight, such as a flywheel, a lead block and the like.

The picking and placing task is a task of carrying and moving goods by a robot.

In some embodiments, the pick and place tasks may include tasks that require the robot to pick up the goods stored on the storage shelves of the warehousing system, may include tasks that transfer the goods to a target location, and may include tasks that transfer the goods stored on the robot to the storage shelves of the warehousing system.

Specifically, the action type of the pick-and-place device can be determined according to factors such as the movement direction of the pick-and-place device, whether the goods are loaded or not, and the like.

Specifically, the action type of the pick-and-place device can be determined according to the motion trail of the pick-and-place device, and the action type of the pick-and-place device can be determined according to the type of the task executed by the pick-and-place device.

Specifically, the motion track of the pick-and-place device can be determined according to the operation parameters of the motor driving the pick-and-place device.

In some embodiments, the action types of the pick-and-place device may be classified into a vertical type including two basic types of a vertical up type and a vertical down type, a horizontal type including two basic types of a horizontal left type and a horizontal right type, and a movement type composed of a plurality of combinations of four basic types.

In some embodiments, the action types of the pick and place device may be classified into a stack type, an unstacking type, a stack moving type, a pick type, a place type, and the like according to the type of the task performed.

In some embodiments, an angular velocity sensor provided on the robot may detect angular velocities of the robot in at least three mutually perpendicular directions.

Specifically, the weight of the cargo corresponding to the robot can be determined according to the record of the task executed by the robot. The weight of the goods on the robot storage goods area, such as the area on the movable chassis or the temporary storage shelf, can be detected according to the weight sensor arranged on the robot storage goods area.

Specifically, the control instruction of the balancing weight can be generated according to the weight of the goods corresponding to the robot and the picking and placing task corresponding to the robot or the action type of the picking and placing device of the robot.

Specifically, a control instruction of the balancing weight arranged on the moving chassis of the robot can be generated according to the type of the picking and placing task corresponding to the robot and the weight of the goods corresponding to the robot.

In some embodiments, the type of pick and place task may be a pick type and a place type, where the weight of the load carried by the robot will increase and the weight of the load carried by the robot will decrease.

In some embodiments, the task to be executed by each robot may be determined by the dispatching device of the warehouse system according to the requirement, so as to obtain the task corresponding to each robot, and the robot may divide the tasks, so as to obtain each picking and placing task corresponding to the robot and the execution sequence of each picking and placing task. And further, according to the execution sequence, a control instruction of the balancing weight arranged on the moving chassis of the robot is generated according to the picking and placing tasks corresponding to the robot and the weight of the goods corresponding to the robot.

Specifically, the position of the center of gravity or the mass center of the robot at each time node can be estimated according to the type of the picking and placing task corresponding to the robot, the total weight of the goods currently loaded by the robot and the weight of the goods required to be operated; and further, based on the positions of the gravity center or the mass center of the robot at all time nodes, generating a control instruction of the balancing weight arranged on the moving chassis of the robot so as to set the gravity center or the mass center adjusting value of the robot in a set range.

Specifically, based on the positions of the gravity center or the mass center of the robot at each time node, the target positions of the balancing weights corresponding to each time node are determined, and further, based on the target positions of the balancing weights corresponding to each time node, the control instructions of the balancing weights are generated to control the balancing weights to move to the corresponding target positions at each time node, so that the gravity center or the mass center of the robot is located in a set range, and the robot is balanced.

Specifically, a three-dimensional simulation model of the robot can be pre-established, and then the gravity center or the mass center position of the robot in each time section for executing the current task can be determined based on the total weight and the placement position of the goods currently carried by the robot and the weight of the goods extracted or stored by the robot. And further, based on the positions of the gravity center or the mass center of the robot at all time nodes, generating a control instruction of the balancing weight arranged on the moving chassis of the robot so as to set the gravity center or the mass center adjusting value of the robot in a set range.

Specifically, the angular velocities of the robots in all directions, which are output by all angular velocity sensors arranged on the robots, can be collected in real time, and then the combined angular velocity of the robots is determined according to the angular velocities of the robots in all directions; and generating a control instruction of the balancing weight according to the angular velocity of the robot so as to enable the angular momentum of the robot to be as close to 0 as possible during the task execution.

Specifically, the position of the center of gravity or the mass center of the robot in each time node during the action of the pick-and-place device can be determined according to the action type of the pick-and-place device of the robot and the weight of the goods extracted by the pick-and-place device, and then the target position of the balancing weight of each time node is determined based on the position of the center of gravity or the mass center of the robot in each time node, and then the control instruction of the balancing weight is generated based on the target position of the balancing weight of each time node, so that the balancing weight is controlled to move to the corresponding target position in each time node, and the center of gravity or the mass center of the robot is located in a set range, so that the robot keeps balanced.

Step S202, controlling the balancing weight to move according to the control instruction so as to balance the robot.

In some embodiments, the control instruction of the configuration block may include a target position of the movement of the balancing weight, and may further include a movement speed of the balancing weight.

Specifically, after the control instruction is generated, movement control of the balancing weight can be performed based on the control instruction, so that balance control of the robot is realized by moving the balancing weight.

Specifically, the adjusting mechanism can be controlled based on the generated control instruction, so that the balancing weight is controlled to move in the horizontal plane of the movable chassis under the drive of the adjusting mechanism, and the robot is kept stable during the execution of the corresponding task. The adjusting structure may be the adjusting structure 31 described above.

Specifically, the balancing weights can be controlled to move to the target positions corresponding to the time nodes at the moving speeds corresponding to the time nodes based on the target positions corresponding to the time nodes and the moving speeds corresponding to the time nodes in the control instruction, so that the robots can keep balance at the time nodes for executing tasks.

According to the control method of the balancing weight, aiming at the robot with the movable balancing weight arranged on the movable chassis, according to one or more of the picking and placing task corresponding to the robot, the action type of the picking and placing device, the weight of goods corresponding to the robot and the angular speed of the robot output by the angular speed sensor in all directions, a control instruction of the balancing weight is generated, so that the balancing weight is moved based on the control instruction to balance the robot, the robot is prevented from shaking greatly during operation, the stability and safety of the operation of the robot are improved, and the flexibility of the balance control of the robot is improved through the movable balancing weight, so that the robot can carry goods in a large weight range, and the operation range of the robot is enlarged.

In some embodiments, the robot is a pick-and-place robot comprising a mobile chassis, a main structure and pick-and-place devices, the main structure comprising a column frame and a temporary storage shelf, the temporary storage shelf being multi-layered, each layer being capable of storing one item. Goods can be stored in each layer of the temporary storage shelf through the lifting pick-and-place goods device, and the goods stored in each layer of the temporary storage shelf are conveyed to other positions, such as an operation table, a storage position of the storage shelf and the like. When the pick-and-place device is lifted after picking up the goods, the motion type of the pick-and-place device is vertical.

In some embodiments, the robot may be a stacking robot, including a moving chassis, a main structure, and a picking and placing device, where the main structure includes a column frame, a stacking position is provided on the moving chassis, and the picking and placing device includes a fork assembly and a handling mechanism, where the fork assembly can move relative to the column frame along a first horizontal direction and a vertical direction, so as to drive a cargo to approach or depart from the stacking position along the first horizontal direction and the vertical direction; the carrying mechanism is located above the stacking position and can move along a second horizontal direction or a vertical direction relative to the upright column frame so as to drive cargoes to be close to or far away from the stacking position along the second horizontal direction or the vertical direction, and the first horizontal direction is perpendicular to the second horizontal direction. The type of movement of the pick-and-place device is a vertical type when the forks picking up the goods are moved in the vertical direction or when the handling mechanism is moved in the vertical direction. When the carrying mechanism moves along the second horizontal direction, the movement type of the pick-and-place device is horizontal.

In some embodiments, the forks may be rotated through an angle range of 90 °, 270 °, or other ranges.

In some embodiments, the fork comprises a fork body and a mechanical arm assembly, wherein the mechanical arm assembly can stretch and retract relative to the fork body to drive goods to enter and exit the fork body; the handling mechanism comprises a supporting frame and a grabbing arm assembly, wherein the grabbing arm assembly can be lifted relative to the supporting frame in the vertical direction so as to drive stacked cargoes on the stacking position to enter and exit the supporting frame.

In some embodiments, the handling mechanism may grasp a plurality of goods stacked on the palletizing station or a stack of goods to a target location, such as a production line, pallet, or other location.

In particular, the forks can stack a plurality of loads onto the palletizing station of the mobile chassis.

Specifically, can control and snatch the arm module and once only snatch to the support frame with a plurality of cargoes that pile up neatly put up, and then remove transport mechanism to the top of target position to control snatch the arm module and release the cargoes in the support frame in order to realize destacking.

In some embodiments, the amount of cargo that the handling mechanism extracts from the palletizing location may be controlled by controlling the gripping depth of the gripping arm assembly.

In some embodiments, when the pick-and-place device performs the vertical movement, the pick-and-place device may bear the goods, so that the center of mass of the pick-and-place device may be the center of mass of the pick-and-place device bearing the goods, and the weight of the pick-and-place device may be replaced by the sum of the weight of the pick-and-place device and the weight of the goods borne by the pick-and-place device, so as to control the balancing weight.

Specifically, when the motion type of the pick-and-place device is a vertical type or when the robot walks, that is, when the pick-and-place device or a part of components of the pick-and-place device move along the vertical direction, the current position of the mass center of the robot, the position of the mass center of the balancing weight and the position of the mass center of the motion part of the pick-and-place device can be obtained, and then the control instruction of the balancing weight is generated based on the position of the mass center of the robot, the position of the mass center of the balancing weight, the position of the mass center of the pick-and-place device, the weight of the balancing weight and the weight of the pick-and-place device are collinear, and the product of the weight of the balancing weight and the first distance is larger than or equal to the product of the weight of the pick-and-place device and the second distance.

Specifically, the current position of the mass center of the robot, the position of the mass center of the balancing weight, the position of the mass center of the pick-and-put device, the weight of the balancing weight, the weight of the pick-and-put device and the weight of the goods borne on the pick-and-put device generate a first control instruction to control the balancing weight to move, so that the mass center of the robot after the first movement, the mass center of the balancing weight and the mass center of the pick-and-put device are collinear, namely positioned on a straight line. And further, during the vertical movement of the pick-and-place device, generating a second control instruction of the balancing weight according to the second distance, the weight of the pick-and-place device, the weight of the goods borne on the pick-and-place device, the first distance and the weight of the balancing weight so as to control the balancing weight to move, so that the product of the weight of the balancing weight and the first distance is greater than or equal to the product of the sum of the weight of the pick-and-place device and the weight of the goods borne by the pick-and-place device and the second distance while the mass center of the robot after the second movement, the mass center of the balancing weight and the mass center of the pick-and-place device are collinear. I.e.

Specifically, when the pick-and-place device or the moving part (fork or handling mechanism) of the pick-and-place device moves along the horizontal direction, the movement type of the pick-and-place device is the horizontal type, and the angular velocity of the robot in all directions can be determined based on the angular velocity sensor arranged on the robot, so that the angular velocity of the robot in all directions can be further used for generating a control instruction of the balancing weight.

Specifically, the angular velocity of the robot can be determined according to the angular velocity of the robot in each direction, and then based on the theorem of conservation of angular momentum, a control instruction of the balancing weight is generated according to the angular velocity or the angular momentum of the robot, and the angular momentum generated by the movement of the balancing weight is controlled, so that the integral angular momentum of the robot and the balancing weight is 0 or as close to 0 as possible.

Alternatively, the movement type of the pick-and-place device may be determined according to the operation parameters of the driving motor of the pick-and-place device.

Specifically, the motion type of the pick-and-place device can be determined according to the motor identification of the running driving motor. Different driving motors can be used for driving the pick-and-place device to move in different directions.

The centroid offset parameter may be an offset between a position of a centroid of the robot and a set position or a set range.

Specifically, the centroid offset parameters of each time node of the robot for executing the corresponding picking and placing task can be estimated according to the picking and placing task corresponding to the robot and the weight of the goods corresponding to the robot, and further, based on the centroid offset parameters of each time node of the robot, the control instruction of the balancing weight is generated, so that the balancing weight is controlled to move in each time node, and the centroid of the robot of each time node after the balancing weight moves is located in a set position or a set range.

Specifically, the centroid offset parameters of each time node of the robot for executing the corresponding picking and placing task can be estimated according to the picking and placing action type of the robot and the weight of the goods corresponding to the robot, and further, based on the centroid offset parameters of each time node of the robot, a control instruction of the balancing weight is generated, so that the balancing weight is controlled to move in each time node, and the centroid of the robot of each time node after the balancing weight moves is located in a set position or a set range.

Fig. 3 is a flowchart of a control method of a balancing weight according to another embodiment of the present disclosure, where in this embodiment, for a case where a motion type of a pick-and-place device of a robot is a horizontal type, that is, for a case where a motion portion of the pick-and-place device or the pick-and-place device moves along a horizontal direction, step S201 is further refined on the basis of the embodiment shown in fig. 2, and as shown in fig. 3, the control method of a balancing weight provided in this embodiment may include the following steps:

In step S301, when the motion type of the pick-and-place device of the robot is a horizontal type, the angular speeds of the robot in all directions, which are output by the angular speed sensors provided on the robot, are obtained.

Specifically, the angular speeds of the robots in all directions, which are output by the angular speed sensors provided on the robots and corresponding to the respective periods, may be obtained according to the set periods. The set period may be a fixed period or a variable period.

Further, the set period may be dynamically adjusted based on the resultant angular velocity of the robot.

Step S302, according to the angular velocity of the robot in each direction, determining the combined angular velocity of the robot.

The combined angular velocity is a sum vector of angular velocities in all directions of the robot.

Specifically, for each cycle, the resultant angular velocity of the robot corresponding to the cycle is determined based on the angular velocities of the robots in the respective directions corresponding to the cycle.

Step S303, determining the target position and the moving speed of the balancing weight according to the combined angular speed of the robot.

Specifically, the target position and the moving speed of the balancing weight can be determined according to the angular velocity of the robot, the weight of the robot removing the rest part of the balancing weight module, and the weight of the balancing weight.

Specifically, according to the angular velocity of the robot corresponding to each period, the target position and the moving speed of the balancing weight corresponding to each period are determined.

Further, a dynamic model of the robot may be previously established, and the target position and the moving speed of the balancing weight may be determined based on the dynamic model and the resultant angular speed of the robot, so that the resultant angular momentum of the robot as a whole is 0 or as close to 0 as possible by the movement of the balancing weight.

Step S304, according to the target position and the moving speed of the balancing weight, generating a control instruction of the balancing weight.

Specifically, the control instruction of the balancing weight corresponding to each period may be generated according to the target position and the moving speed of the balancing weight corresponding to each period.

Step S305, according to the control instruction, controlling the balancing weight to move to the target position according to the moving speed.

Specifically, according to the control instructions of the balancing weights corresponding to each period, the balancing weights are controlled to move to the target positions corresponding to the periods according to the moving speeds corresponding to the periods, so that dynamic balance control of the robot is realized, the robot is balanced in each period, and large shaking of the robot is avoided, so that collision occurs.

In this embodiment, when the pick-and-place device of the robot moves horizontally, the robot obtains the combined angular velocity of the robot according to the angular velocity of the robot in each direction output by the angular velocity sensor set on the robot, and generates a control instruction of the balancing weight based on the combined angular velocity, so as to move the balancing weight to a target position corresponding to the control instruction according to the moving velocity corresponding to the control instruction, balance the robot, and perform the moving control of the balancing weight through the real-time angular velocity acquired by the angular sensor, thereby improving the control precision, better realizing the dynamic balance control of the robot, avoiding the robot from larger shaking during operation, and improving the stability and safety of the robot operation.

Fig. 4 is a flowchart of a control method of a balancing weight according to another embodiment of the present disclosure, where step S201 is further refined based on the embodiment shown in fig. 2, and the embodiment implements a control strategy of a balancing weight including two stages, as shown in fig. 4, where the control method of a balancing weight provided in the embodiment may include the following steps:

Step S401, determining a motion track of the pick-and-place device of the robot according to the pick-and-place task corresponding to the robot or the action type of the pick-and-place device of the robot.

In some embodiments, the picking and placing task corresponding to the robot is a task to be executed by the robot, and the task may be sent to a processor of the robot by the scheduling device, or the picking and placing task corresponding to the robot may be manually input.

Specifically, after receiving the picking and placing task, the processor of the robot can divide the picking and placing task into sub-tasks according to the motion types and the task content of the picking and placing task before executing the picking and placing task, and the motion types of the picking and placing devices of the robot corresponding to each sub-task are different. Further, the type of motion of the pick and place device of the robot may be determined based on the subtask currently being performed by the robot.

Specifically, when the pick-and-place device of the robot executes various tasks, a set mode is adopted to execute, and then the motion trail of the pick-and-place device of the robot can be determined according to the pick-and-place tasks executed by the pick-and-place device.

Further, the motion trail of the pick-and-place device can be determined according to the pick-and-place task corresponding to the robot and the storage position of the goods corresponding to the pick-and-place task. The storage position of the goods can be the storage position of a storage shelf, the stacking position of a robot, the temporary storage shelf of the robot, an operation table, a connection port of a conveying line and the like.

Taking an example of a robot needing to extract a material box stored on a preset storage position stored on a storage shelf, the picking task can be divided into three subtasks, wherein the first subtask is that a picking and placing device is lifted to a height corresponding to the preset storage position, in some embodiments, the picking and placing device also needs to move along a first horizontal direction to align with the preset storage position, and the picking and placing device is rotated so that a mechanical arm assembly faces the preset storage position to control the mechanical arm assembly to extend towards the preset storage position, so that the material box on the preset storage position is pulled to a picking and placing device body; the second subtask is to drive the material box to the upper part of the stacking position or a layer of the temporary storage shelf after the material box is picked and placed by the pick-and-place device, so that the material box is placed on the robot.

Specifically, the motion trail of the pick-and-place device of the robot can be determined according to the corresponding relation between the motion type of the pick-and-place device of the robot and the motion trail of the pick-and-place device.

Specifically, a track route of a motion track of the pick-and-place device of the robot can be determined according to a pick-and-place task corresponding to the robot or an action type of the pick-and-place device of the robot and a first corresponding relation established in advance, and the track route is initialized based on an initial storage position and a target storage position of goods corresponding to the robot, so that the motion track of the pick-and-place device of the robot is obtained. The picking and placing tasks corresponding to the robots need to move the corresponding goods from the initial storage position to the target storage position.

Step S402, determining a centroid offset parameter of the robot at each time node during the motion of the pick-and-place device according to the motion track of the pick-and-place device of the robot and the weight of the goods corresponding to the robot.

Specifically, a dynamic model of the robot can be established according to parameters such as weight, material, size and connection relation of each part of the robot, and then the position of the mass center of the robot at each time node during the movement of the pick-and-place device of the robot is estimated based on the determined movement track of the pick-and-place device of the robot, the weight of goods corresponding to the robot and the dynamic model, and further the mass center offset parameters of the robot corresponding to each time node are obtained based on the position of the mass center of the robot corresponding to each time node.

Specifically, the centroid offset parameter or centroid offset of the robot corresponding to each time node may be calculated according to the position of the centroid of the robot corresponding to each time node and the desired set range or set position of the centroid of the robot.

Step S403, generating control instructions of the balancing weights corresponding to the time nodes according to the centroid offset parameters of the robot at the time nodes during the action of the pick-and-place device.

Specifically, for each time node, the target position of the balancing weight corresponding to the time node can be determined based on the centroid offset parameter of the robot corresponding to the time node, and then the control instruction of the configuration block corresponding to the time node is generated based on the target position of the balancing weight corresponding to the time node.

Specifically, a centroid offset curve of the robot during the motion of the pick-and-place device can be determined according to centroid offset parameters of the robot corresponding to each time node, and a control instruction of the balancing weight is generated based on the centroid offset curve so as to adjust the centroid offset curve to fall into a preset envelope curve through movement of the balancing weight.

The future motion trail of the robot is obtained based on the to-be-executed pick-and-place task of the robot or the to-be-executed motion type of the pick-and-place device, so that the positions of the mass centers of the robot are estimated at all time nodes when the pick-and-place device of the robot acts based on the motion trail, and further the balancing weights are controlled in advance based on estimated mass center offset parameters of the robot, so that unbalance of the robot due to control hysteresis is avoided.

Step S404, for each time node, during moving the configuration block based on the control instruction corresponding to the time node, acquiring an angular velocity output by the angular velocity sensor corresponding to the time node, and obtaining a combined angular velocity corresponding to the time node according to the angular velocity output by the angular velocity sensor corresponding to the time node.

In order to improve the accuracy of robot balance, the angular velocity of the robot in all directions detected by an angular velocity sensor arranged on the robot at each time node is read at the same time or after the movement control of the balancing weights based on the movement type of the pick-and-place device or the corresponding pick-and-place task, and then the combined angular velocity of the robot corresponding to the time node is obtained.

Step S405, according to the angular velocity corresponding to each time node, the new target position of the balancing weight corresponding to each time node.

Specifically, for each time node, a new target position of the balancing weight corresponding to the time node is determined based on the angular velocity corresponding to the time node.

Further, according to the angular velocity corresponding to the time node and the dynamic model of the robot, a new target position and a new moving speed of the balancing weight corresponding to the time node can be determined.

Step S406, for each time node, modifying a control instruction of the balancing weight corresponding to the time node according to the target position of the balancing weight corresponding to the time node, so as to control the balancing weight to move to the target position corresponding to the time node.

Specifically, after determining the new target position of the balancing weight corresponding to each time node, modifying the control instruction of the balancing weight corresponding to the time node based on the new target position corresponding to the time node, so as to modify or update the target position in the control instruction to be the new target position, thereby controlling the balancing weight to move to the new target position corresponding to the time node.

Specifically, after determining a new moving speed and a new target position of the balancing weight corresponding to each time node based on the angular velocity, modifying a control instruction of the balancing weight corresponding to the time node based on the new moving speed and the new target position corresponding to the time node, so as to modify or update the moving speed in the control instruction to be the new moving speed and the target position to be the new target position, thereby controlling the balancing weight to move to the new target position corresponding to the time node according to the moving speed corresponding to the time node.

In this embodiment, for a robot with a movable balancing weight on a moving chassis, two stages of movement control of the balancing weight are performed, where the first stage specifically includes determining a motion track of the robot, which is next to the pick-and-place device, according to a task to be executed by the robot or a motion type to be executed by the robot pick-and-place device, and estimating centroid offset parameters of each time node during the motion of the robot along the motion track based on the motion track and the weight of the corresponding goods of the robot, and generating a control instruction of the balancing weight based on the centroid offset parameters of each time node, so as to perform advanced control of the balancing weight based on the control instruction, so as to avoid unbalance of the robot due to hysteresis of control; the second stage is to obtain the angular velocity of the robot in each direction output by the angular velocity sensor set on the robot at each time node, obtain the combined angular velocity of the robot at each time node, and modify the target position and the moving speed of the control instruction of each time node based on the combined angular velocity of each time node, thereby improving the accuracy of the balancing weight moving control.

Fig. 5 is a schematic structural diagram of a control device for balancing weights according to an embodiment of the present disclosure, where the control device for balancing weights is applied to a robot, and the robot includes a moving chassis and balancing weights disposed on the moving chassis, as shown in fig. 5, and the device includes: an instruction generation module 510 and a control module 520.

The instruction generating module 510 is configured to generate a control instruction of the balancing weight according to one or more of a pick-and-place task corresponding to a robot, an action type of a pick-and-place device of the robot, a weight of a load corresponding to the robot, and an angular speed of the robot in each direction output by an angular speed sensor set on the robot; the control module 520 is configured to control the balancing weight to move according to the control instruction so as to balance the robot; the goods corresponding to the robot comprise one or more of goods placed on a goods storage area of the robot, goods on a goods taking and placing device of the robot and goods to be extracted by the robot.

Optionally, the instruction generating module 510 is specifically configured to:

Optionally, the instruction generating module 510 includes:

a combined angular velocity determining unit, configured to determine a combined angular velocity of the robot according to angular velocities of the robot in all directions output by an angular velocity sensor provided on the robot; the first instruction generating unit is used for generating a control instruction of the balancing weight according to the combined angular speed of the robot.

Optionally, the first instruction generating unit is specifically configured to:

Accordingly, the control module 520 is specifically configured to:

Optionally, the instruction generating module 510 includes:

The mass center offset parameter determining unit is used for determining mass center offset parameters of the robot according to one or more of a pick-and-place task corresponding to the robot, an action type of a pick-and-place device of the robot and a weight of goods corresponding to the robot; and the second instruction generating unit is used for generating a control instruction of the balancing weight according to the mass center offset parameter of the robot.

Optionally, the centroid offset parameter determining unit includes:

the motion trail determination subunit is used for determining the motion trail of the pick-and-place device of the robot according to the pick-and-place task corresponding to the robot or the action type of the pick-and-place device of the robot; and the mass center offset parameter determining subunit is used for determining mass center offset parameters of the robot at all time nodes during the action of the pick-and-place device according to the motion track of the pick-and-place device of the robot and the weight of the goods corresponding to the robot.

Correspondingly, the second instruction generating unit is specifically configured to:

Optionally, the motion trajectory determination subunit is specifically configured to:

Optionally, the apparatus further includes:

the instruction adjusting module is used for acquiring the angular velocity output by the angular velocity sensor corresponding to each time node during the period of moving the configuration block based on the control instruction corresponding to the time node for each time node after generating the control instruction of the balancing weight corresponding to each time node according to the centroid offset parameter of the robot of each time node during the action of the pick-and-place device, and acquiring the combined angular velocity corresponding to the time node according to the angular velocity output by the angular velocity sensor corresponding to the time node; according to the angular velocity corresponding to each time node, the new target position of the balancing weight corresponding to each time node; and for each time node, modifying a control instruction of the balancing weight corresponding to the time node according to the target position of the balancing weight corresponding to the time node so as to control the balancing weight to move to the target position corresponding to the time node.

Optionally, the apparatus further includes:

and the motion type determining module is used for determining the motion type of the pick-and-place device according to the operation parameters of the driving motor of the pick-and-place device.

The control device for the balancing weight provided by the embodiment of the disclosure can execute the control method for the balancing weight provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

Fig. 6 is a schematic structural diagram of a robot according to another embodiment of the present disclosure, as shown in fig. 6, the robot includes: a mobile chassis 610, a weight 620 disposed on the mobile chassis 610, a pick and place device 630, and a processor 640.

The processor 640 is configured to execute to implement the control method of the balancing weight provided in any of the embodiments corresponding to fig. 2 to 4 of the present disclosure. Weight 620 may be any of the weights provided in any of the embodiments described above.

The relevant descriptions may be understood correspondingly with reference to the relevant descriptions and effects corresponding to the steps of fig. 2 to fig. 4, and are not repeated here.

In some embodiments, the weight 620 may move within an area defined by the mobile chassis 610, such as the area corresponding to the dashed box in fig. 6.

In some embodiments, the robot may be a palletizing robot, a box robot, or the like, including a pillar frame.

The embodiment of the disclosure also provides a warehousing system, which comprises: scheduling equipment, storage shelves and robots.

The robot may be any of the robots provided in any of the embodiments corresponding to fig. 1A to 1H and fig. 6. The scheduling device is used for distributing tasks for the robot. Storage shelves are used to store goods, and may include multiple tiers of storage locations, each of which may store one or more goods.

In some embodiments, the warehousing system further includes a handling station, unloader, elevator, etc. An operator can sort and pack the articles stored in the goods at the operation desk, and the unloader and the lifter are transfer devices of the goods.

An embodiment of the present disclosure provides a computer readable storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement a method for controlling a balancing weight according to any one of the embodiments corresponding to fig. 2 to 4 of the present disclosure.

The computer readable storage medium may be, among other things, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

The present disclosure also provides a program product comprising an executable computer program stored in a readable storage medium. The computer program may be read from a readable storage medium by at least one processor of the robot, and executed by the at least one processor, causes the control device of the balancing weight to implement the control method of the balancing weight provided in the above-described various embodiments.

In the description of the present disclosure, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate an orientation or positional relationship based on that shown in the drawings, merely for convenience in describing embodiments of the present disclosure and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present disclosure.

In the description of the present disclosure, it should be understood that the terms "comprises" and "comprising," and any variations thereof, as used herein, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements that are expressly listed or inherent to such process, method, article, or apparatus.

Unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; can be directly connected or indirectly connected through an intermediate medium, and can lead the interior of two elements to be communicated or lead the two elements to be in interaction relationship. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated.

In the several embodiments provided in the present disclosure, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules described as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional module in the embodiments of the present disclosure may be integrated in one processing unit, or each module may exist alone physically, or two or more modules may be integrated in one unit. The units formed by the modules can be realized in a form of hardware or a form of hardware and software functional units.

The integrated modules, which are implemented in the form of software functional modules, may be stored in a computer readable storage medium. The software functional module is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the disclosure.

It should be understood that the above processor may be a central processing unit (Central Processing Unit, abbreviated as CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, abbreviated as DSP), application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present disclosure may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile memory NVM, such as at least one magnetic disk memory, and may also be a U-disk, a removable hard disk, a read-only memory, a magnetic disk or optical disk, etc.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present disclosure are not limited to only one bus or to one type of bus.

The storage medium may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC for short). It is also possible that the processor and the storage medium reside as discrete components in an electronic device or a master device.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A control method of a balancing weight, the method being applied to a robot, the robot comprising a moving chassis and a balancing weight, the balancing weight being arranged on the moving chassis, the method comprising:

generating a control instruction of the balancing weight according to one or more of a picking and placing task corresponding to a robot, an action type of a picking and placing device of the robot, the weight of goods corresponding to the robot and the angular speed of the robot in all directions, which are output by an angular speed sensor arranged on the robot;

controlling the balancing weight to move according to the control instruction so as to balance the robot;

The goods corresponding to the robot comprise one or more of goods placed on a goods storage area of the robot, goods on a goods taking and placing device of the robot and goods to be extracted by the robot.

2. The method according to claim 1, wherein generating the control instruction of the balancing weight according to one or more of a pick-and-place task corresponding to a robot, an action type of a pick-and-place device of the robot, a weight of a load corresponding to the robot, and an angular velocity of the robot in each direction output by an angular velocity sensor provided on the robot, includes:

when the movement type of the pick-and-place device is a vertical type, generating a control instruction of the balancing weight according to the mass center of the robot, the mass center of the balancing weight, the mass center of the pick-and-place device, the weight of the balancing weight and the weight of the pick-and-place device so that the mass center of the robot, the mass center of the balancing weight and the mass center of the pick-and-place device are collinear, and the product of the weight of the balancing weight and the first distance is larger than or equal to the product of the weight of the pick-and-place device and the second distance;

The first distance is the distance between the mass center of the balancing weight and the mass center of the robot, and the second distance is the distance between the mass center of the pick-and-place device and the mass center of the robot.

3. The method according to claim 1, wherein generating the control instruction of the balancing weight according to one or more of a pick-and-place task corresponding to a robot, an action type of a pick-and-place device of the robot, a weight of a load corresponding to the robot, and an angular velocity of the robot in each direction output by an angular velocity sensor provided on the robot, includes:

4. A method according to claim 3, wherein generating the control command of the counterweight according to the angular velocity of the robot in each direction output by an angular velocity sensor provided on the robot comprises:

determining the combined angular velocity of the robot according to the angular velocities of the robot in all directions, which are output by an angular velocity sensor arranged on the robot;

And generating a control instruction of the balancing weight according to the angular velocity of the robot.

5. The method of claim 4, wherein generating the control command for the counterweight according to the resultant angular velocity of the robot comprises:

determining the target position and the moving speed of the balancing weight according to the angular velocity of the robot;

generating a control instruction of the balancing weight according to the target position and the moving speed of the balancing weight;

according to the control instruction, controlling the balancing weight to move, including:

6. The method according to claim 1, wherein generating the control instruction of the balancing weight according to one or more of a pick-and-place task corresponding to a robot, an action type of a pick-and-place device of the robot, a weight of a load corresponding to the robot, and an angular velocity of the robot in each direction output by an angular velocity sensor provided on the robot, includes:

determining a centroid offset parameter of a robot according to one or more of a pick-and-place task corresponding to the robot, an action type of a pick-and-place device of the robot and a weight of goods corresponding to the robot;

And generating a control instruction of the balancing weight according to the mass center offset parameter of the robot.

7. The method of claim 6, wherein determining the centroid offset parameter for the robot based on one or more of a pick-and-place task for the robot, a type of motion of a pick-and-place device for the robot, and a weight of a cargo for the robot comprises:

determining a motion track of the pick-and-place device of the robot according to a pick-and-place task corresponding to the robot or the action type of the pick-and-place device of the robot;

determining mass center offset parameters of the robot at each time node during the action of the pick-and-place device according to the motion track of the pick-and-place device of the robot and the weight of the goods corresponding to the robot;

generating a control instruction of the balancing weight according to the mass center offset parameter of the robot, wherein the control instruction comprises the following steps:

8. The method of claim 7, wherein determining the motion trajectory of the pick and place device of the robot according to the pick and place task corresponding to the robot or the action type of the pick and place device of the robot comprises:

Determining a motion track of the pick-and-place device of the robot according to the pick-and-place task corresponding to the robot or the action type of the pick-and-place device of the robot and a first corresponding relation established in advance;

the first correspondence is used for describing a correspondence between a motion track of the pick-and-place device and one or two of a pick-and-place task corresponding to the robot and an action type of the pick-and-place device of the robot.

9. The method of claim 7, wherein after generating the control instruction of the balancing weight corresponding to each time node according to the centroid offset parameter of the robot at each time node during the pick and place device action, the method further comprises:

for each time node, during the period of moving the configuration block based on a control instruction corresponding to the time node, acquiring the angular velocity output by the angular velocity sensor corresponding to the time node, and acquiring the combined angular velocity corresponding to the time node according to the angular velocity output by the angular velocity sensor corresponding to the time node;

according to the angular velocity corresponding to each time node, the new target position of the balancing weight corresponding to each time node;

And for each time node, modifying a control instruction of the balancing weight corresponding to the time node according to the target position of the balancing weight corresponding to the time node so as to control the balancing weight to move to the target position corresponding to the time node.

10. The method according to any one of claims 1-9, wherein the method further comprises:

11. A control device of balancing weight, characterized in that, the device is applied to the robot, the robot is including removing chassis and balancing weight, the balancing weight sets up on the removal chassis, the device includes:

the instruction generation module is used for generating a control instruction of the balancing weight according to one or more of a picking and placing task corresponding to the robot, an action type of a picking and placing device of the robot, the weight of goods corresponding to the robot and the angular speed of the robot in all directions, which are output by an angular speed sensor arranged on the robot;

the control module is used for controlling the balancing weight to move according to the control instruction so as to balance the robot;

12. A robot, comprising: the balancing weight is arranged on the movable chassis,

the at least one processor is configured to perform a method of controlling a balancing weight according to any one of claims 1-10.

13. A computer readable storage medium, wherein computer executable instructions are stored in the computer readable storage medium, which when executed by a processor, implement a method of controlling a balancing weight according to any one of claims 1-10.

14. A computer program product comprising a computer program, characterized in that the computer program, when executed by a processor, implements a method of controlling a balancing weight according to any one of claims 1-10.