WO2019036931A1 - Procédé, dispositif et système de mise en place de marchandises, dispositif électronique et support de stockage lisible - Google Patents

Procédé, dispositif et système de mise en place de marchandises, dispositif électronique et support de stockage lisible Download PDF

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Publication number
WO2019036931A1
WO2019036931A1 PCT/CN2017/098616 CN2017098616W WO2019036931A1 WO 2019036931 A1 WO2019036931 A1 WO 2019036931A1 CN 2017098616 W CN2017098616 W CN 2017098616W WO 2019036931 A1 WO2019036931 A1 WO 2019036931A1
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WIPO (PCT)
Prior art keywords
goods
robot
placement
image data
cargo
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Application number
PCT/CN2017/098616
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English (en)
Chinese (zh)
Inventor
张�浩
Original Assignee
深圳蓝胖子机器人有限公司
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Application filed by 深圳蓝胖子机器人有限公司 filed Critical 深圳蓝胖子机器人有限公司
Priority to PCT/CN2017/098616 priority Critical patent/WO2019036931A1/fr
Priority to CN201780006706.0A priority patent/CN108712946B/zh
Publication of WO2019036931A1 publication Critical patent/WO2019036931A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0093—Programme-controlled manipulators co-operating with conveyor means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes

Definitions

  • the present invention belongs to the field of robot technology, and in particular, to a cargo placement method, device, system, and electronic device and readable storage medium.
  • the robot usually uses the visual sensor at the end of the robot arm to determine the placement position of the cargo, but on the one hand, if the visual sensor only follows the robot arm to grasp the placement task, the effective data acquired by the visual sensor is limited or even Insufficient, resulting in a calculated position that is not accurate enough, or even a failure, such as collisions, failure to perform.
  • the robot needs to control the robot arm multiple movements every time the goods are stacked, so that the visual sensor can obtain the required valid data, which takes a long time and is more efficient. low.
  • the invention provides a cargo placing method, device, system, electronic device and readable storage medium, aiming at solving the existing robot-based cargo placement technology, and can not accurately determine the placement position of the goods to be placed and the cargo code placement. Less efficient problem.
  • a first aspect of the embodiments of the present invention provides a cargo placement method, including: spatial image data of a global field of view in a cargo tank acquired according to a first sensing device; analyzing the spatial image data to obtain remaining placement in the cargo hold Spatial data; according to the attribute parameters of the goods to be placed and the remaining placement The data between the two determines the placement position of the goods to be placed; and controls the first robot to place the goods to be placed in the placement position.
  • a second aspect of the embodiments of the present invention provides a cargo placement apparatus, including: a first image acquisition module, spatial image data for a global view in a cargo tank acquired according to the first sensing device; and an analysis module for analyzing the The spatial image data is obtained, and the data of the remaining space in the cargo space is obtained; the position determining module is configured to determine the placement position of the goods to be placed according to the attribute parameter of the goods to be placed and the data of the remaining space And a control module, configured to control the first robot to place the to-be-placed goods in the placement position.
  • a third aspect of the embodiments of the present invention provides an electronic device, including: at least one processor; and a memory communicably coupled to the at least one processor; wherein the memory is stored for execution by the one processor Program instructions are executed by the at least one processor to enable the at least one processor to: spatial image data of a global field of view in a cargo bay acquired according to a first sensing device; analyzing the spatial image data Obtaining data of the remaining space in the cargo hold; determining the position of the goods to be placed according to the attribute parameter of the goods to be placed and the data of the remaining space; controlling the first robot to set the pendulum The discharged goods are placed in the placed position.
  • a fourth aspect of the embodiments of the present invention provides a computer readable storage medium having stored thereon a computer program, wherein when the computer program is executed by a processor, the goods provided by the first aspect of the embodiments of the present invention are implemented. Placement method.
  • a fifth aspect of the embodiments of the present invention provides a cargo placement system, including: a server, a first robot, and a first sensing device; wherein the server or the first robot runs the second aspect of the embodiment of the present invention a cargo placement device; the first robot for placing the goods to be placed in the placement position; the first sensing device for acquiring a spatial image of a global view in the cargo hold data.
  • the cargo placement method, device, system, and electronic device and readable storage medium obtained by the present invention obtain the space image data of the global field of view in the cargo tank obtained by the first sensing device, and obtain the cargo compartment.
  • the data of the remaining space is placed, and according to the attribute parameters of the goods to be placed and the data of the remaining space, the placement position of the goods to be placed is determined, and the placement position obtained by using the global view in the cargo compartment is accurate. Higher, which increases the efficiency of controlling the placement of goods by robots And quality.
  • FIG. 1 is a schematic diagram of an application environment of a cargo placement method according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart showing an implementation process of a cargo placement method according to a first embodiment of the present invention
  • FIG. 3 is a schematic flow chart showing an implementation process of a cargo placement method according to a second embodiment of the present invention.
  • FIG. 4 is a schematic flow chart showing an implementation process of a cargo placement method according to a third embodiment of the present invention.
  • Figure 5 is a schematic structural view of a cargo placement device according to a fourth embodiment of the present invention.
  • Figure 6 is a schematic structural view of a cargo placement device according to a fifth embodiment of the present invention.
  • FIG. 7 is a schematic structural view of a control module in a cargo placement device according to a fifth embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of hardware of an electronic device according to a sixth embodiment of the present invention.
  • FIG. 9 is a schematic structural view of a cargo placement system according to a seventh embodiment of the present invention.
  • FIG. 10 is a schematic structural view of a cargo placement system according to an eighth embodiment of the present invention.
  • FIG. 1 is a schematic diagram of an application environment of a cargo placement method according to an embodiment of the present invention.
  • the robot 10 performs data interaction with the server 80 by wired or wireless means, and proceeds to the cargo bay 30 to perform unloading or loading operations according to an instruction sent by the server 80.
  • the cargo 60 is taken from a location other than the cargo bay 30 or the conveyor 40 Up, loading into cargo hold 30.
  • the cargo 60 is unloaded from the cargo bay 30 onto the conveyor 40 or transported outside of the cargo bay 30.
  • the robot 10 may be a single robot or a robot cluster composed of a plurality of robots.
  • the robot includes a processor, a robotic arm, and an end effector disposed at the end of the robot arm, and may also include a moving chassis, various types of sensors, and the like.
  • FIG. 2 is a schematic flowchart of an implementation process of a cargo placement method according to a first embodiment of the present invention. As shown in FIG. 2, the cargo placement method mainly includes the following steps:
  • the first sensing device is a global sensing device for acquiring spatial image data of a global field of view in the cargo bay, including at least one visual sensor or camera device.
  • the first sensing device can be placed at a preset position in the cargo hold, such as four apex angles at the top of the cargo hold.
  • the first sensing device may also include an end effector disposed on the robotic arm or robot.
  • the first sensing device may transmit the sensed spatial image data to the robot or the server in real time according to a preset transmission rule.
  • the data on the remaining space in the cargo hold includes the spatial data that can be used to place the cargo in the entire space of the cargo hold.
  • This spatial data can vary according to different description methods. For example, a spatial description method, including a voxel, can be employed to represent a unit that displays a base point in three-dimensional space. It is also possible to use a surface description method, including a mesh, which can describe a three-dimensional space and a solid object when a closed curved surface is used. Among them, the description of the goods can be described differently from the spatial data, but the description information can match the placement relationship of the goods placed in the space.
  • Spatial data can include coordinate information. This coordinate information can be converted into coordinates in the world coordinate system.
  • the world coordinate system is used to make the various systems, subsystems, etc. in the system, such as the coordinate system used by the robot to move the chassis, and the coordinate system used by the end effector, can be converted to the coordinates in the world coordinate system.
  • the selection of the world coordinate system may be a coordinate system adopted by the first sensing device, or may be a coordinate system defined in the cargo compartment. As long as each coordinate system in the system has a mapping to a unified world coordinate system.
  • S203 Determine, according to the attribute parameter of the goods to be placed and the data of the remaining placement space, the placement position of the goods to be placed;
  • the attribute parameters of the goods to be placed may, but are not limited to, include: the identification, size, and body of the goods to be placed Any combination of one or more of product, weight, form, placement posture, holding position, and holding posture.
  • the placement posture refers to the posture in which the robot's end effector places the goods to be placed.
  • the holding position refers to the initial position of the goods to be placed before being placed in the placement position for the robot to perform the held position.
  • the posture of holding is the attitude of the robot's end effector to grasp the goods to be placed.
  • the placement position of the goods to be placed is calculated.
  • the placement position refers to the target position where the goods to be placed will be placed.
  • the execution body of the cargo placement method provided by the embodiments of the present invention may be a master control module, which may be configured in a control chip of the server, or configured in a control chip of the sensing device, or may be configured in the robot. In the control chip.
  • the master control module can also be configured in a separate chip and communicatively coupled to the server, the sensing device, or the control chip of the robot to perform the various steps in this embodiment.
  • the master control module When the master control module is configured in the control chip of the server or the sensing device, the master control module sends a control command including the placement position, the placement posture, the holding position, and the holding posture of the goods to be placed to the first A robot to control the first robot to place the goods to be placed in the placement position.
  • the master control module When the master control module is disposed in the control chip of the first robot, the master control module controls the robot arm and the end effector of the first robot, according to the placement position, the placement posture, the holding position of the goods to be placed, and Get the posture, treat the placed goods and perform the corresponding holding and placing operations to place the goods to be placed in the placement position.
  • the data of the remaining placement space in the cargo hold is obtained, and according to the attribute parameters of the goods to be placed and the remaining placement space.
  • the data determines the placement position of the goods to be placed, and the spatial data of the global field of view can better plan the placement position, thereby improving the efficiency of controlling the placement of the goods by the robot.
  • FIG. 3 is a schematic diagram of an implementation process of a cargo placement method according to a second embodiment of the present invention. As shown in FIG. 3, the cargo placement method mainly includes the following steps:
  • the first sensing device is a global sensing device for acquiring spatial image data of a global field of view in the cargo compartment. At least one visual sensor or camera device is included. In practical applications, the first sensing device can be placed at a preset position in the cargo hold, such as four apex angles at the top of the cargo hold.
  • the first sensing device may also include an end device disposed at the end of the robotic arm or the robot, thereby providing more comprehensive in-cargo space image data.
  • the data on the remaining space in the cargo hold includes data on the space in the cargo space that can be used to place the cargo.
  • the position of the goods to be placed in the space image is located, and the image data of the goods to be placed is obtained according to the located position data.
  • the attribute parameters of the goods to be placed include: any combination of one or more of the identification, size, volume, weight, shape, placement posture, holding position, and holding posture of the goods to be placed.
  • the image data of the goods to be placed is analyzed, and the position of holding the goods to be placed and the posture of holding are obtained.
  • the holding position refers to the initial position of the goods to be placed before being placed in the placement position.
  • the posture of holding is the posture of the robot's robot arm and the end effector to grasp the goods to be placed.
  • the image data of the goods to be placed is subjected to image analysis, and the identifier of the goods to be placed is obtained, and according to the identifier, the identifier and the goods are obtained through the server or from the local preset.
  • the query obtains the holding position of the goods to be placed and the holding posture.
  • steps S301 to S303 are not limited to the sequential execution flow illustrated in FIG. 3, and may be performed in parallel with S302 and S303.
  • Steps S302 and S303 perform analysis of spatial image data according to the spatial image data obtained in step S301. The data of the remaining space in the cargo compartment is obtained. At the same time, the analysis of the spatial image data is performed, the image data of the goods to be placed is obtained, and the image data of the goods to be placed is analyzed to obtain the attribute parameters.
  • the placement position refers to the target position where the goods to be placed will be placed. Specifically, according to the attribute parameters of the goods to be placed and the data of the remaining placement space, the placement position of the goods to be placed is calculated. It is also possible to calculate the position of the goods to be placed. When it has posture data, it can achieve flexible crawling in complex scenes. For example, a non-fixed form of goods to be placed, a non-fixed grab scheme to obtain a more accurate, better quality of the program.
  • the placement position may be determined by planning. Specifically, according to the attribute parameters of the goods to be placed and the data of the remaining placement space, a plurality of positionable positions of the goods to be placed in the remaining placement space are planned. Then, according to the preset screening rule, the optimal placement position that best matches the attribute parameter of the goods to be placed is selected from the plurality of positionable positions.
  • the parameter of the item to be placed is obtained through step S303, and may include, but is not limited to, any combination of one or more of size, volume, weight, and form of the item to be placed.
  • This step may specifically include the following two aspects of the implementation process:
  • the first motion trajectory of the first robot is planned according to the current position, the current posture, and the holding position and the holding posture of the first robot. Then, the first robot is controlled to reach the holding position according to the first motion trajectory and is in the holding posture to obtain the goods to be placed.
  • the first motion trajectory of the first robot is obtained by using a server or querying a correspondence between the locally stored identifier and the first motion trajectory according to the identifier of the goods to be placed obtained by analyzing the image data of the goods to be placed.
  • the second motion trajectory of the first robot is planned according to the holding position of the first robot, the holding posture, and the placing position and the placing posture. Then, the first robot is controlled to follow the second motion trajectory, reach the placement position, and be in the placed posture to place the goods to be placed.
  • the placement position and the placement posture of the goods to be placed may be obtained by the server or by querying the corresponding relationship between the locally stored identification and the placement position and the placement posture according to the identifier obtained in step S303.
  • the second motion trajectory of the first robot is obtained by using a server or querying a correspondence between the locally stored identifier and the second motion trajectory according to the identifier of the goods to be placed obtained by analyzing the image data of the goods to be placed.
  • controlling the second robot according to the genus of the goods to be placed The sexual parameters are held and placed on the first robot.
  • the first feasible way is that the first robot performs step S304.
  • the second feasible manner is that after the step S304 is performed by the second robot, the position of the goods to be placed is sent to the first robot. After the first robot obtains the goods to be placed and sent by the second robot, step S305 is performed. .
  • the third feasible manner is that the step S304 is performed by the server, and the placement position is sent to the first robot. After the first robot acquires the goods to be placed and transmitted by the second robot, step S305 is performed.
  • the plurality of items to be placed includes a plurality of items. Based on the remaining space of the cargo hold and the attribute parameters of all the goods to be placed, it is possible to estimate the number of items that can be placed in the cargo hold and to plan the placement of each piece of goods that can be placed. Then, the conveyor belt device or the multi-car is controlled to transport a plurality of depositable goods, and the first robot is controlled to be placed one by one in accordance with the planned delivery order.
  • the plurality of trolleys may be the quantity corresponding to the plurality of goods to be placed, or may be less than the quantity corresponding to the plurality of goods to be placed, and the trolley that completes the task continues to take off the goods to be placed and completes the transmission.
  • the first feasible manner includes that the conveyor device and/or the plurality of trolleys place the estimated plurality of goods to be placed in the order of placement in the picking position or area of the first robot for obtaining the goods, so that the first A robot picks up the goods to be placed and arranges them in the order of placement in the picking position or area.
  • the second feasible manner includes: the conveying device and/or the plurality of trolleys send the goods to be placed to the position where the first robot is delivered in the order of placement, and provide the first robot to execute the goods to be placed in the order of placement. And complete the placement.
  • one or more fixed delivery positions may be included, and the plurality of trolleys arrive at the corresponding delivery position in the order of placement, thereby reducing the planning and mechanical movement of the first robot to hold the goods to be placed.
  • the quantity of goods that can be placed refers to the full space of the cargo space, or the part of the space where the cargo space is placed.
  • the goods to be placed include the goods that can be placed, for example, when the remaining space of the cargo space is insufficient or unsuitable for placing one or more goods to be placed, it is retained in the next cargo compartment for placement. . However, if there are other goods to be placed, they can be placed in the cargo hold, and the other goods to be placed are placed in the cargo hold and placed in the cargo hold. When all goods to be placed can be placed in the cargo hold, all goods to be placed are placed.
  • Step S304 specifically includes: determining, according to the attribute parameters of the plurality of goods to be placed and the data of the remaining placement space, the placement position and the placement order of the goods that can be placed and placed.
  • Step S305 specifically includes: controlling the first robot according to the identification information of each of the arrangable goods, according to the order of placement, Each placeable cargo can be placed in the corresponding position.
  • the first robot is controlled to perform a placement operation on each of the loadable goods, and the process can be the same as the implementation of the first aspect and the second aspect described above.
  • the identification information of each placeable cargo and the order of placement are sent to at least one second robot, and the second robot is controlled to obtain each of the displayable goods according to the identification information, and according to the arrangement order, each can be The placed goods are transferred to the first robot, so that the first robot can place the respective loadable goods one by one according to the realization process of the second aspect described above. It can be understood that when the second robot is less than all the goods to be placed, the second robot can find the goods according to the placement order and give the first robot in the order of placement. When the number of the second robots is equal to or greater than all the goods to be placed, the second robots can each find a cargo without an order, and then transmit to the first robot in the order of placement.
  • the second robot is controlled to place the goods to be placed in the conveying device of the corresponding cargo compartment to be adopted by the transmitting device.
  • the goods to be placed are delivered to the first robot.
  • controlling the second robot to place the goods to be placed in the conveying device corresponding to the cargo hold including the second robot placing the plurality of or all the goods to be placed corresponding to the cargo hold
  • the first sensing device is provided with spatial image data including a global field of view of the goods to be placed to perform steps S301 to S304, and step S305.
  • the goods to be placed include one or more goods to be placed in the cargo hold.
  • one or more goods to be placed cannot be placed in the cargo hold, for example, due to the volume of the goods. Attribute parameters such as shape, variable morphological characteristics, and fragility are not suitable or suitable for placement in the remaining space of the cargo hold. It can then be placed in the next cargo hold that takes over the cargo hold.
  • the second robot is controlled to place the goods to be placed in the conveying device corresponding to the cargo hold, and the solution further includes a third sensing device disposed on the input section of the conveying device.
  • the conveyor input section can be external to the cargo bay, for example, inside or outside the warehouse.
  • the global view also includes image data of the goods to be placed acquired by the third sensing device.
  • Step 301 to step 304 after performing the spatial image data of the global field of view in the cargo space acquired by the first sensing device and the image data of the goods to be placed acquired by the third sensing device, controlling the second robot to place the goods to be placed Corresponding to the conveying device of the cargo hold, the goods to be placed are conveyed to the first robot by the conveying device to perform step S305.
  • the third sensing device further includes a scanning device, for example, can be placed in the transmission to be input segment or the source area for acquiring the attribute parameter of the goods to be placed, and then step S301 can be directly executed.
  • the analyzing the spatial image data in step S302, obtaining the data of the remaining placement space in the warehouse, and performing the step S304 according to the attribute parameter of the goods to be placed acquired by the third sensing device, thereby controlling the second robot to be placed The goods are placed in a conveyor corresponding to the cargo hold to convey the goods to be placed to the first robot through the conveyor to perform step S305.
  • the manner of directly transmitting by the trolley or the second robot without using the transmitting device can also be combined with the above exemplary manner. Variations and combinations directly obtained by those skilled in the art based on the above exemplary principles are still within the scope of protection of the present invention.
  • this step includes the implementation process of the third aspect in addition to the above two aspects. That is, the attribute parameter includes the approximate pose of the first robot, and then the first image data of the goods to be placed is obtained by analyzing the spatial image data, and the approximate pose is obtained according to the first image data. Then, according to the current position, the current posture and the close posture of the first robot, the third motion trajectory of the first robot is obtained. The first robot is controlled to be in a close position or a close posture according to the third motion trajectory.
  • the second image data of the goods to be placed is acquired by the second sensing device, and according to the second image data, the holding position of the goods to be placed and the holding posture are obtained.
  • the goods to be placed are held according to the position of holding and the posture of holding.
  • a second sensing device disposed on the robotic arm or end effector can be incorporated.
  • the second sensing device can acquire the second image data of the goods to be placed at a close distance, and may also include the first image data not having The data, such as the approaching pose, can obtain perspective data that is not available to the first sensing device. Therefore, a more accurate holding position and a holding posture can be obtained. Thereby, the holding position and the holding posture are approached according to the approaching position or the approaching posture. Thereby improving the quality of the holding.
  • the data of the remaining placement space in the cargo hold is obtained, and according to the attribute parameters of the goods to be placed and the remaining placement space.
  • the data determines the placement position of the goods to be placed, and the position obtained by using the global view in the cargo hold is more accurate, thereby improving the efficiency and quality of controlling the placement of the goods by the robot.
  • FIG. 4 is a flow chart showing the implementation of the method for placing goods according to the third embodiment of the present invention. intention.
  • the cargo placement method mainly includes the following steps:
  • the second sensing device can include, but is not limited to, a scanning device and a visual sensor. Specifically, it can be placed on the robot arm or the end effector of the robot.
  • the data of the remaining placement space in the cargo hold is obtained, and according to the attribute parameters of the goods to be placed and the remaining placement space.
  • the data determines the placement position of the goods to be placed, and the position obtained by using the global view in the cargo hold is more accurate, thereby improving the efficiency and quality of controlling the placement of the goods by the robot.
  • FIG. 5 is a schematic structural diagram of a cargo placement device according to a fourth embodiment of the present invention. As shown in Figure 5, the cargo placement device mainly comprises:
  • a first image acquisition module 501 configured to acquire spatial image data of a global view in the cargo space according to the first sensing device
  • the analyzing module 502 is configured to analyze the spatial image data to obtain data of remaining space in the cargo hold;
  • a position determining module 503 configured to determine a placement position of the goods to be placed according to the attribute parameter of the goods to be placed and the data of the remaining placement space;
  • the control module 504 is configured to control the first robot to place the goods to be placed in the placement position.
  • each functional module The division is only an example.
  • the function allocation can be completed by different functional modules according to the needs, such as the configuration requirements of the corresponding hardware or the convenience of implementation of the software, that is, the internal structure of the mobile terminal is divided into different Functional modules to perform all or part of the functions described above.
  • the corresponding functional modules in this embodiment may be implemented by corresponding hardware, or may be executed by corresponding hardware to execute corresponding software. The above description principles may be applied to various embodiments provided in this specification, and are not described herein again.
  • the data of the remaining placement space in the cargo hold is obtained, and according to the attribute parameters of the goods to be placed and the remaining placement space.
  • the data determines the placement position of the goods to be placed, and the position obtained by using the global view in the cargo hold is more accurate, thereby improving the efficiency and quality of controlling the placement of the goods by the robot.
  • FIG. 6 is a schematic structural diagram of a cargo placement device according to a fifth embodiment of the present invention. As shown in FIG. 6, unlike the above-described cargo placement device shown in FIG. 5, in the present embodiment:
  • the analysis module 502 is further configured to analyze the spatial image data, obtain image data of the goods to be placed, and analyze image data of the goods to be placed to obtain the attribute parameter.
  • the device further includes:
  • a second image acquisition module 601 configured to acquire image data of the goods to be placed by using the second sensing device
  • the analysis module 502 is further configured to analyze image data of the goods to be placed to obtain the attribute parameter.
  • the analysis module 502 is further configured to analyze the image data of the goods to be placed, obtain the holding position of the goods to be placed and the holding posture, and analyze the image data of the goods to be placed to obtain the to-be-swinged
  • the identification of the goods is released, and according to the identification, the holding position of the goods to be placed and the holding posture are obtained.
  • control module 504 includes: a first trajectory acquiring module 5041 , a first bot control module 5042 , and a second trajectory acquiring module 5043 .
  • the first trajectory acquiring module 5041 is configured to plan a first motion trajectory of the first robot according to the current position, the current posture, the holding position, and the holding posture of the first robot.
  • a first robot control module 5042 configured to control the first robot according to the first motion trajectory, Arriving at the held position and in the held position to obtain the goods to be placed.
  • the analysis module 502 is further configured to analyze image data of the goods to be placed to obtain an identifier of the goods to be placed.
  • the first trajectory acquiring module 5041 is further configured to acquire the first motion trajectory of the first robot according to the identifier.
  • the second trajectory obtaining module 5043 is configured to acquire, according to the identifier, a placement position and a placement posture of the goods to be placed, and according to the current position, the current posture, the placement position, and the placement posture of the first robot, A second motion trajectory of the first robot is planned.
  • the first robot control module 5042 is further configured to control the first robot to reach the placement position according to the second motion trajectory and to be in the placement posture to place the to-be-positioned goods.
  • the second trajectory acquiring module 5043 is further configured to acquire a second motion trajectory of the first robot according to the identifier.
  • the analysis module 502 is further configured to analyze the image data of the goods to be placed, and obtain the attribute parameter to be placed, where the attribute parameter includes one of a size, a volume, a weight, and a form of the goods to be placed. Any combination of multiple;
  • the location determining module 503 is further configured to: according to the data of the to-be-arranged goods attribute and the data of the remaining placement space, plan a plurality of positionable positions of the goods to be placed in the remaining placement space, and according to the preset The screening rule selects the placement position from the plurality of positionable positions.
  • control module 504 further includes:
  • the second robot control module 5044 is configured to control the second robot to obtain the goods to be placed according to the attribute parameter of the goods to be placed, and transmit the goods to the first robot.
  • the location determining module 503 is further configured to determine, according to the attribute parameters of the plurality of goods to be placed and the data of the remaining placement space, that the goods can be placed and each of the Place the placement and placement of the goods;
  • the first robot control module 5042 is further configured to control the first robot to place each of the displayable goods in a corresponding placement position according to the attribute parameters of the displayable goods according to the placement order;
  • the second robot control module 5044 is further configured to send the attribute parameters of each of the displayable goods and the placement order to the at least one second robot, and control the second robot to search according to the attribute parameter
  • Each of the arrangable goods can be placed, and the arbitrarily arranged goods are delivered to the first robot according to the arrangement order;
  • the second robot control module 5044 is further configured to control the second robot to place the goods to be placed in a conveying device corresponding to the cargo tank, so as to transmit the goods to be placed to the first robot through the conveying device.
  • the attribute parameters of each control module in the above example may be identifiers.
  • the attribute parameters adopted by the first robot control module 5042 include a placement position and a placement posture.
  • the attribute parameters adopted by the second robot control module 5044 include a holding position and a holding posture, so that the second robot can directly acquire the goods to be placed.
  • control module 504 further includes:
  • a third trajectory obtaining module 5045 configured to analyze the spatial image data, obtain the first image data of the goods to be placed, obtain the approximate pose according to the first image data, and according to the current position and current of the first robot a pose and the approximate pose, obtaining a third motion trajectory of the first robot;
  • the posture acquiring module 5046 is configured to acquire the second image data of the goods to be placed by the second sensing device, and obtain the holding position and the holding posture of the goods to be placed according to the second image data;
  • the first robot control module 5042 is further configured to control the first robot to be in the approaching posture according to the third motion trajectory, and to obtain the to-be-positioned cargo according to the obtained holding position and the grasping posture.
  • the data of the remaining placement space in the cargo hold is obtained, and according to the attribute parameters of the goods to be placed and the remaining placement space.
  • the data determines the placement position of the goods to be placed, and the position obtained by using the global view in the cargo hold is more accurate, thereby improving the efficiency and quality of controlling the placement of the goods by the robot.
  • FIG. 8 is a schematic diagram showing the hardware structure of an electronic device for performing a cargo placement method according to a sixth embodiment of the present invention.
  • the electronic device can be, for example, a server, a robot, a sensing device with data processing functionality, or other computer device. As shown in FIG. 8, the electronic device includes:
  • One or more processors 810 and memory 820, one processor 810 is taken as an example in FIG.
  • the electronic device that performs the cargo placement method may further include: an input device 830 and an output device 840.
  • the processor 810, the memory 820, the input device 830, and the output device 840 may be connected by a bus 850 or the like, as exemplified by a bus connection in FIG.
  • the memory 820 is used as a non-transitory computer readable storage medium for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions corresponding to the goods placement method in various embodiments of the present invention.
  • the module for example, the first image acquisition module 501, the analysis module 502, the position determination module 503, and the control module 504 shown in FIG. Further, it can also be used to store the modules as shown in FIG. 6 and FIG.
  • the processor 810 executes various functional applications and data processing of the electronic device by running non-transitory software programs, instructions, and modules stored in the memory 820, that is, implementing the cargo placement method in the above method embodiments.
  • the memory 820 can include a storage program area and a storage data area, wherein the storage program area can store an operating system, an application required for at least one function.
  • the storage data area can store data and the like created according to the use of the above-described goods placement device.
  • memory 820 can include high speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device.
  • the memory 820 can optionally include a memory remotely located relative to the processor 810 that can be connected to the cargo placement device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Input device 830 can receive input numeric or character information and generate key signal inputs related to user settings and function control of the cargo placement device.
  • the output device 840 can include a display device such as a display screen.
  • One or more modules are stored in memory 820, and when executed by one or more processors 810, perform the cargo placement method of any of the above method embodiments.
  • the above product can perform the method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
  • the methods provided by the first and second embodiments of the present invention can perform the method provided by the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
  • FIG. 9 is a schematic structural view of a cargo placement system according to a seventh embodiment of the present invention, as shown in FIG.
  • the system includes a server 910, a first robot 920, and a first sensing device 930.
  • the cargo placement device provided by the fourth or fifth embodiment of the present invention is run in the server 910 or the first robot 920.
  • the first robot 920 is configured to place the goods to be placed in the placement position.
  • the first sensing device 930 is configured to acquire spatial image data of a global view in the cargo hold.
  • the cargo placement system provided by the eighth embodiment of the present invention further includes: a second sensing device 940.
  • the second sensing device 940 includes a scanning device and/or a visual sensor.
  • the first robot 920 includes a robot arm and an end effector disposed at an end of the robot arm, and the second sensing device 940 is disposed on the robot arm or the end effector for acquiring image data of the goods to be placed.
  • the system further includes a second robot 950, configured to acquire the goods to be placed according to the attribute parameter of the goods to be placed, the attribute parameter includes a holding position, and may also include obtaining The gesture is transmitted to the first robot 920.
  • the attribute parameter can also be shape, size, volume, and weight.
  • the goods to be placed can be held and transmitted to the first robot 920 as long as they meet the combination requirements of any one or more of a certain shape, size, volume, and weight.
  • the second robot 950 is further configured to search for each of the displayable goods according to the identification information, and transmit the displayable goods to the first robot 920 according to the display order. It is also used to place the goods to be placed in a conveyor corresponding to the cargo hold.
  • the first robot 920 is provided by a transmitting device.
  • the functional modules in the various embodiments of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules if implemented in the form of software functional modules and sold or used as separate products, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the storage medium includes: a U disk, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)

Abstract

Procédé, dispositif et système de mise en place de marchandises, dispositif électronique et support de stockage lisible, qui sont appliqués au domaine technique de la robotique, le procédé de mise en place de marchandises consistant à : selon des données d'image spatiale d'un champ de vision global à l'intérieur d'une soute, qui sont acquises par un premier dispositif de détection, analyser les données d'image spatiale pour obtenir des données de l'espace de mise en place restant à l'intérieur de la soute ; déterminer une position de mise en place de marchandises à placer en fonction de paramètres d'attribut des marchandises à placer et des données de l'espace de mise en place restant ; commander un premier robot pour placer les marchandises à mettre en place dans la position de mise en place. Les procédé, dispositif, système, dispositif électronique et support de stockage lisible décrits peuvent permettre des positions de mise en place qui sont obtenues au moyen d'un calcul pour mieux représenter une vue globale spatiale à l'intérieur d'une soute, tout en ayant une plus grande précision, ce qui permet d'améliorer l'efficacité de commande d'un robot pour mettre en place les marchandises.
PCT/CN2017/098616 2017-08-23 2017-08-23 Procédé, dispositif et système de mise en place de marchandises, dispositif électronique et support de stockage lisible WO2019036931A1 (fr)

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CN201780006706.0A CN108712946B (zh) 2017-08-23 2017-08-23 货物摆放方法、装置、系统以及电子设备和可读存储介质

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