WO2019061310A1 - 基于机器人的自动分拣方法、系统及机器人、存储装置 - Google Patents

基于机器人的自动分拣方法、系统及机器人、存储装置 Download PDF

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Publication number
WO2019061310A1
WO2019061310A1 PCT/CN2017/104430 CN2017104430W WO2019061310A1 WO 2019061310 A1 WO2019061310 A1 WO 2019061310A1 CN 2017104430 W CN2017104430 W CN 2017104430W WO 2019061310 A1 WO2019061310 A1 WO 2019061310A1
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WIPO (PCT)
Prior art keywords
sorting
goods
sorted
information
robot
Prior art date
Application number
PCT/CN2017/104430
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English (en)
French (fr)
Inventor
张�浩
徐熠
Original Assignee
深圳蓝胖子机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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/CN2017/104430 priority Critical patent/WO2019061310A1/zh
Priority to CN201780031822.8A priority patent/CN109414730A/zh
Publication of WO2019061310A1 publication Critical patent/WO2019061310A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution

Definitions

  • the present application relates to the field of intelligent robot technology, and in particular, to a robot-based automatic sorting method, system, robot, and storage device.
  • Sorting operations are an important part of most streamlined production lines, especially for the logistics and transportation industry.
  • the warehouse distribution center of the logistics industry and the method of sorting goods during transportation are still traditional manual judgment, sorting, printing package cards, etc., and the skill requirements of the workers are high, and the manual operation method is inefficient. Accuracy is difficult to guarantee and the workload is large. In addition, sorting transmission requires a large number of operators, and the labor costs increase, which also increases the cost of the logistics industry.
  • the application provides a robot-based automatic sorting method, system, robot and storage device, which can improve the efficiency of sorting and transportation in the logistics industry, save human resources and reduce costs.
  • another technical solution adopted by the present application is to provide a robot-based automatic sorting method, the method comprising: acquiring the information to be sorted, the information to be sorted includes a target Sorting the location information; acquiring the target sorting port corresponding to the to-be-sorted goods according to the target sorting location information; and placing the to-be-sorted goods into the target sorting storage device through the target sorting port Corresponding to the target sorting cabinet.
  • a robot-based automatic sorting system including a robot and a sorting storage device, and the sorting storage device includes a plurality of sorting cabinets.
  • the robot is configured to acquire cargo information of the goods to be sorted, the cargo information includes target sorting location information and pose information; and the target sorting port is obtained according to the target sorting location information;
  • the sorted goods are placed in the corresponding target sorting cabinet in the target sorting storage device through the target sorting port.
  • a robot including a robot arm, an end effector connected to the robot arm, and a communication connection with the robot arm and the end effector.
  • the storage device wherein the processor is configured to acquire cargo information of the goods to be sorted, the cargo information includes target sorting location information; and acquire a corresponding target sorting port according to the target sorting location information; The robot arm and the end effector put the to-be-sorted goods into the corresponding target sorting cabinet through the target sorting port.
  • another technical solution adopted by the present application is to provide a storage device that stores instructions that perform the automatic sorting method described in any of the above.
  • the beneficial effects of the present application are: providing a robot-based automatic sorting method, system, robot, and storage device, by automatically identifying the cargo information of the goods to be sorted, and the robot puts the corresponding information according to the information of the goods to be sorted In the target sorting cabinet, it can improve the efficiency of sorting and transportation in the logistics industry, saving human resources and reducing the cost.
  • FIG. 1 is a schematic flow chart of a first embodiment of a robot automatic sorting method according to the present application
  • FIG. 2 is a schematic flow chart of a second embodiment of the robot automatic sorting method according to the present application.
  • FIG. 3 is a schematic flow chart of a third embodiment of the robot automatic sorting method according to the present application.
  • FIG. 4 is a schematic flow chart of a fourth embodiment of a robot automatic sorting method according to the present application.
  • Figure 5 is a schematic cross-sectional view showing a first embodiment of the sorting cabinet of the present application.
  • Figure 6 is a schematic cross-sectional view showing a second embodiment of the sorting cabinet of the present application.
  • FIG. 7 is a schematic structural view of an embodiment of a robot-based automatic sorting system of the present application.
  • Figure 8 is a schematic structural view of a second embodiment of the automatic sorting system of the present application.
  • FIG. 9 is a schematic structural view of a first embodiment of a sorting robot of the present application.
  • FIG. 10 is a schematic structural view of a second embodiment of the sorting robot of the present application.
  • FIG. 11 is a schematic structural diagram of an embodiment of a storage device of the present application.
  • FIG. 1 is a schematic flow chart of a first embodiment of a robot automatic sorting method according to the present application.
  • the robot-based automatic sorting method adopted in the present embodiment is applicable to various sorting centers, warehouse distribution centers, storage centers, and the like, which need to classify goods, and need to accurately classify different goods from different transportation places and Each shipment is shipped to a different target sorting location.
  • the automatic sorting method based on the robot can improve the working efficiency of the logistics and transportation industry, replace the manual operation with the machine, and save human resources.
  • the principles of the present invention are described below in conjunction with an application scenario, but are not intended to limit the scope of the present invention. Referring to FIG.
  • each sorting storage device 11 is provided with a plurality of sorting ports a.
  • Each of the sorting ports a corresponds to a sorting cabinet A.
  • Each sorting port a corresponds to a target sorting location information.
  • the robot 20 sorts the destination information based on the target sorting information of the goods to be sorted, and puts the target sorting port a corresponding to the target sorting location information.
  • the goods entering the sorting cabinet A through the sorting port a can be uniformly transported to the next link corresponding to the target sorting location information.
  • the automatic sorting method of the present application comprises the following steps:
  • the goods to be sorted in the loading or unloading center of the loading vehicle need to be transported from different sorting ports to different target sorting places.
  • a robot-based automatic sorting system for example, applied to the above-mentioned logistics sorting center, one of radio frequency identification, barcode recognition, two-dimensional code recognition, visual recognition, and optical character recognition can be used to acquire cargo information.
  • the cargo information can be obtained by the identification device.
  • the identification device can be disposed on the robot (specifically, can be disposed on the end effector of the robot arm), and each sorting storage device 11 can identify the location covering all the sorting ports or set in the identification range to cover all sorting units.
  • All of the sorting storage devices 11 and the identification device may have a plurality of constituent identification systems for obtaining information of the goods to be sorted.
  • the identification device involved in the present application or the identification system composed of a plurality of identification devices may have a computing capability, and may obtain the current pose and target pose of the goods to be sorted according to the spatial data of the goods to be sorted, and may also Calculate the position, position, and execution path, trajectory planning, etc. of the robot to be held or placed to be sorted.
  • control center can be set on the robot, and the completion of the sorting task of each sorting unit is completed independently by the robot. That is to say, after the planning device calculates the execution path or the trajectory of the goods to be sorted or placed, it is directly sent to the control center on the robot to directly perform the sorting task.
  • the control center may be not disposed on the robot, may be a device independent of the robot, and may be calculated by the identification device to calculate the execution path or trajectory of the goods to be sorted or placed. The control center is then sent by the control center to the robot for operating the goods to be sorted to complete the sorting task.
  • the identification device or the identification system may also have only the ability to acquire data by itself.
  • the identification device is a visual sensor
  • spatial data is acquired.
  • the control center obtains the data according to the data.
  • the current pose and target pose of the goods to be sorted, and the acquired posture, placement pose, execution path and trajectory planning of the robot to be held or placed, and the robot can be calculated and executed. Pick the task.
  • the identification device may also obtain the identification information on the goods to be sorted by directly identifying, for example, one-dimensional barcode, two-dimensional code, texture, pattern, color, and the like. Information on the goods to be sorted.
  • the identification device includes a scanning device, a vision sensor, a camera, and an optical character recognition device (Optical) At least one of Character Recognition, OCR) and a radio frequency identifier.
  • the information of the goods to be sorted may be target sorting information including but not limited to the goods to be sorted, that is, the final target information of the goods to be sorted and/or the next corresponding task of the current sorting task of the goods to be sorted Sorting location information.
  • the final target location information may include an address to be sent, and according to the transportation rule of the logistics transmission system, the next target location information corresponding to each sorting may be obtained, and the next target location information includes the next point of the current processing center.
  • the input destination of the picking link can also be the output destination of the current processing center, such as the cargo compartment for transporting, the conveyor belt for transporting the cargo tank, etc., or the storage place.
  • the information of the goods to be sorted may further include: description information of the goods to be sorted, such as size, shape, weight, type, etc.; and may also include current pose information and/or target pose of the goods to be sorted.
  • the information, the target pose information is a position and/or a posture of the goods to be sorted that can be placed in the corresponding target sorting port, that is, one of a position, a posture, a posture (position and posture), and may also include a robot.
  • the pose information includes a position and/or a pose.
  • the acquired pose information corresponds to the acquired position and/or posture of the obtainable goods to be sorted obtained by the robot according to the current pose information of the goods to be sorted.
  • the placement pose information corresponds to the pose information used by the robot according to the target sorting port and the description information of the goods to be sorted, and the obtained goods can be placed into the target sorting port without collision, so as to perform placement to be sorted.
  • the pose and/or posture of the goods corresponds to the acquired position and/or posture of the obtainable goods to be sorted obtained by the robot according to the current pose information of the goods to be sorted.
  • the placement pose information corresponds to the pose information used by the robot according to the target sorting port and the description information of the goods to be sorted, and the obtained goods can be placed into the target sorting port without collision, so as to perform placement to be sorted.
  • the pose and/or posture of the goods corresponds to the acquired position and/or posture of the obtainable goods to be sorted obtained by the robot according to the current pose information of the goods
  • the goods to be sorted may also be directly connected to the cargo tank or the processing center of the goods to be sorted through a conveying mechanism, such as a conveyor belt, and the robot directly acquires the goods to be sorted on the conveyor belt.
  • the cargo compartment includes the cabin of the land truck, the trailer (Trailor).
  • it can also include a container, which can be carried by land, sea, and air by loading on a vehicle, a ship, or an airplane.
  • the information of the goods to be sorted in the present application may also be directly transmitted to the robot through the control center of the sorting system (that is, the control center described above is not disposed on the robot but is an independent device), that is, it is said to be
  • the information of the sorted goods is stored in the control center of the automatic sorting system.
  • the notification can be actively notified by the control center, or can be notified after the robot requests And is not further defined here.
  • the information of the goods to be sorted may also be a control center directly stored on the robot.
  • S2 Acquire a corresponding target sorting port according to the target sorting location information.
  • the target sorting port corresponding to the target sorting location information corresponding to the to-be-sorted cargo is further obtained according to the target sorting location information of the to-be-sorted goods acquired in the step S1.
  • the sorting port a of each sorting storage device 11 is relatively fixed corresponding to the sorting cabinet. Once set and enabled, the position of the sorting port a will not be
  • the control center of the automatic sorting system can calculate and store the position and posture corresponding to each sorting port a in the control center in advance.
  • the control center After acquiring the target sorting location information of the goods to be sorted, the control center sends the information of the target sorting port corresponding to the goods to be sorted, such as the identifier and the pose, to the robot, and the robot sorts according to the target.
  • the posture of the mouth and the current pose of the goods to be sorted, and the execution path of the target to be sorted from the current pose to the target pose of the target sorting port is planned.
  • the target pose of the robot is calculated by the control center according to the pose of the target sorting port and the cargo information of the goods to be sorted. When the robot reaches the target pose and posture according to the execution path, the goods to be sorted are placed.
  • control center may be directly disposed on the robot, so that the position and posture corresponding to each sorting port are directly calculated and stored in the control center of the robot, and the robot itself The control system directly performs the calculation of the position and posture of the goods to be sorted subsequently.
  • the robot obtains the pose of the target sorting port to be sorted according to the spatial data according to the spatial data of the sorting cabinet acquired by the visual sensor.
  • the vision sensor may be disposed on the robot, or may be disposed in the sorting device, or disposed at a position where the sorting port spatial data of the sorting device can be acquired.
  • a signal device may be disposed at each sorting port, and after the identification device of the robot acquires the information of the target sorting location of the goods to be sorted, the information corresponding to the target sorting location is sorted.
  • the signal device of the mouth sends a signal, and the robot can obtain the position and posture information of the target sorting port according to the signal of the signal device.
  • each signal device is bound to each sorting port, that is, the position and posture information of the sorting port corresponding to the signal device are bound and stored in advance in the control center.
  • the signal device of the corresponding target sorting port After obtaining the target sorting location information of the goods to be sorted, the signal device of the corresponding target sorting port sends a signal, and the control center transmits the position and posture information corresponding to the target sorting port to the end effector of the robot.
  • the position and posture information corresponding to the sorting port may include a signal sent by the signal device, or may acquire corresponding position and posture information according to the signal. It can be understood that in this mode, the signal device of the sorting storage device is communicatively connected to the control center and the robot. Of course, in other embodiments, other methods may be used to obtain the position and posture information of the sorting port, which is not further limited.
  • the goods to be sorted are put into the corresponding target sorting cabinet through the target sorting port.
  • the robot After acquiring the target sorting location information of the goods to be sorted and the pose information of the corresponding target sorting port, the robot puts the goods to be sorted into the sorting storage device through the corresponding target sorting port. In the target sorting cabinet, the automatic sorting and sorting of the goods to be sorted is completed.
  • the robot acquires the to-be-sorted goods by acquiring the target sorting location information of the goods to be sorted and the target sorting port thereof, and according to the target sorting information of the goods to be sorted and the target sorting port thereof.
  • Automated sorting can save human resources and improve the efficiency of the logistics sorting and transportation industry.
  • FIG. 2 is a schematic flow chart of a second embodiment of a robot automatic sorting method according to the present application.
  • This example is a schematic flow diagram based on the second embodiment provided in step S3 in the first embodiment, and can be referred to step S3 in FIG.
  • This embodiment will be further extended to step S3 in the first embodiment, and specifically includes the following sub-steps:
  • S31 Perform a first path planning according to the pose information of the goods to be sorted and the first pose information of the robot end effector.
  • the information of the goods to be sorted may be obtained by an identification device provided on the end effector of the robot arm or the arm. 7 and 8, the identification device may also be disposed at a position where the identifiable range of the sorting storage device 11 covers all the sorting ports a or on all of the sorting storage devices 11 whose identification ranges cover the sorting unit B. , no further restrictions here.
  • the information of the goods to be sorted may be information such as the current position and/or posture of the goods to be sorted, the type of goods to be sorted, description information, and weight.
  • the type of goods to be sorted may include fragile, irregular rigid objects, deformable objects, etc., to provide a robot to better perform a grasping scheme that conforms to different types of characteristics.
  • the identification device is a vision sensor
  • the robot obtains spatial data of the goods to be sorted according to the vision sensor, such as a three-dimensional image of the goods to be sorted, a mesh surface description data, and a voxel (Voxel).
  • the space describes the information.
  • the length, width, height and other size description information of the goods to be sorted can be obtained according to the spatial description information. If the goods to be sorted are cylindrical, the length and bottom radius of the cylinder can be obtained according to the data according to the control. Equal size description information and so on. The position and posture information of the goods to be sorted can also be obtained according to the spatial description information of the goods to be sorted.
  • the image of the goods to be sorted may be obtained according to the visual sensor, the identifier on the goods to be sorted may be identified, and the information of the goods to be sorted according to the identifier may be obtained, which may include the current position of the goods to be sorted and/or One or more of the current pose, target position and/or target pose, hold position and/or hold gesture, placement position and/or placement gesture, type of item to be sorted, description information, and weight.
  • the identification device can identify the identification of the goods to be sorted by using one of radio frequency identification, barcode recognition, two-dimensional code recognition and optical character recognition to obtain corresponding cargo information.
  • the robot end effector can be planned to obtain the held posture information of the goods to be sorted. Further, according to the position and orientation of the target sorting port, the description information, and the information to be placed, the target pose information satisfying the goods to be placed under the condition that the goods to be placed are placed in the target sorting port is obtained, and the robot end effector is planned. It is suitable to obtain the position information of the held goods to be sorted.
  • the type and weight of the goods to be sorted may be further obtained, and then the action of the actuator at the end of the control arm at the time of holding or placing the goods to be sorted is controlled.
  • the control arm end effector is slower when the goods to be sorted are placed or placed to ensure the sorting is to be sorted.
  • the robot includes a variety of end effectors, including, for example, a robot and a suction cup, which can be controlled by different end effectors depending on the type of item to be sorted.
  • the control sucker acquires the goods to be sorted. It is also possible to control the holding parameters of the end effector according to the weight parameter of the cargo information, for example, when the end effector is a suction cup, adjust the suction force of the suction cup. It can be understood that, according to the cargo information, it is possible to flexibly obtain different acquisition plans of the robot according to the characteristics of the goods.
  • the shape of the goods to be sorted described above cannot be fully described, that is, when the goods to be sorted are irregular shapes or their shapes are variable, it is necessary to identify and obtain a description of the goods to be sorted.
  • the specific parameter information is used to calculate the position and posture information of the goods to be sorted, and the plan for planning the end effector to be held.
  • the first pose information of the goods to be sorted by the robot end effector can be calculated.
  • the calculation of the first pose information may be directly calculated by the identification device according to the current pose information of the goods to be sorted, or may be calculated by the robot or the control center.
  • the first pose information may be the above-mentioned held pose information, or may be a close pose with a first distance from the goods to be sorted, so as to reach the close pose and then approach the goods to be sorted, according to the end execution.
  • the perceptual feedback of the trend gradually becomes a more accurate posture.
  • the first path planning is further performed by combining the obtained posture of the current pose information of the goods to be sorted and the first posture information of the robot end effector.
  • the first path that the robot uses to obtain the goods to be sorted is obtained.
  • the first pose information may be the current position and/or posture of the end effector.
  • the first path can be calculated directly by the identification device or calculated by the robot or the control center. It is also possible to obtain, according to the first path, a first trajectory that the robot uses to hold the goods to be sorted.
  • the first trajectory includes a first path and an execution speed to obtain the goods to be sorted.
  • the first path plan is executed to obtain the goods to be sorted.
  • the planning of the execution speed of the end effector to be sorted goods can be specifically planned according to the type of the goods to be sorted, for example, if the goods to be sorted are liquid or fragile, the end of the arm end effector The execution speed can be controlled within the optimal range to ensure the integrity of the goods.
  • FIG. 3 is a schematic flowchart diagram of a third embodiment of a robot automatic sorting method according to the present application.
  • This example is a flow diagram based on the third embodiment provided in step S3 in the first embodiment, and can be referred to step S3 in FIG.
  • This embodiment will be further extended to step S3 in the first embodiment, and specifically includes the following sub-steps:
  • the target sorting port corresponding to the target sorting location information of the goods to be sorted is obtained according to the target sorting information of the goods to be sorted, which may specifically include Get the pose information of the target sorting port.
  • the sorting port of each sorting storage device is relatively fixed corresponding to the position of the sorting cabinet. After being set and enabled, the position of each sorting port generally does not change, so the control of the automatic sorting system The position and posture information corresponding to each of the sorting ports in advance is calculated and stored in the control center. After the robot obtains the goods to be sorted, the control center may send the posture information of the target sorting port corresponding to the goods to be sorted to the robot.
  • control center may be directly disposed on the robot, so that the position and posture corresponding to each sorting port are directly calculated and stored in the control center of the robot, and the robot itself The control system directly performs the calculation of the position and posture of the goods to be sorted subsequently.
  • the control center calculates and obtains the target pose information that matches the goods to be sorted into the target sorting port.
  • description information of the sorting port for example, size information, may also be included.
  • the height of the goods to be sorted is greater than the height of the target sorting port, but when the goods to be sorted are in the horizontal posture, the height is smaller than the height of the target sorting port, and the target posture of the goods to be sorted It enters in a posture in which the longitudinal direction is parallel to the longitudinal direction of the target sorting port in the lateral posture.
  • the target pose information of the goods to be sorted includes the target pose and a target position of entering the target sorting port.
  • the position and posture information of the robot according to the target pose information of the goods to be sorted, that is, when the robot end effector is in the placed posture, the goods to be sorted that are held by the robot are in the target pose.
  • the specific parameter information of the goods to be sorted and the posture information of the sorting port are required. Calculated to obtain the best placement position for the goods to be sorted, and the specific application is not enumerated here. And the calculation of the target pose information of the best placement of the goods to be sorted can be calculated by the robot or the control center.
  • step S31a the second pose information after the robot end effector obtains the goods to be sorted is further acquired, and the control center performs the second path planning according to the pose information of the target sorting port.
  • the second path planning the second path for the robot to place the goods to be sorted into the target sorting port is obtained. It is also possible to obtain a second trajectory for the robot to place the goods to be sorted into the target sorting port according to the second path plan, the second trajectory comprising the second path and the execution speed.
  • the robot executes according to the second path or the second trajectory obtained by the second path planning, reaches a placement posture that conforms to the target to be placed without colliding into the target sorting port, and controls the end effector to perform placement, for example, the end effector is opened for the robot
  • the end effector is a suction cup to close the suction force, and then the goods to be sorted are placed in the target sorting cabinet corresponding to the target sorting port.
  • the object to be sorted is placed in the target sorting cabinet A corresponding to the target sorting port a, which can be combined with reference to FIG. 7 and will not be described again here.
  • the calculation of the second pose information after the robot arm end effector in this embodiment obtains the goods to be sorted may also be directly calculated by the identification device, or may be calculated by the robot or the control center.
  • the second path plan in this embodiment is similar to the execution body of the first path plan, and may be calculated by a robot or a control center.
  • the to-be-sorted information may further include the first path or the first track, the second path, or the second track.
  • the sorting system has planned that the robot puts the goods to be sorted into the execution path or execution trajectory of the corresponding target sorting port.
  • the identifying device identifies the identification of the goods to be sorted
  • the sorting robot can directly obtain and execute the first The path or the first trajectory, the second path, or the second trajectory does not need to be calculated.
  • control center can be disposed in the sorting robot, and the sorting robot can independently complete all the method steps performed by the above control center.
  • the human resources can be saved, and the operation efficiency of the logistics sorting and transportation industry can be improved.
  • FIG. 4 is a schematic flowchart diagram of a fourth embodiment of a robot automatic sorting method according to the present application.
  • the present embodiment is further extended based on the first embodiment of the robot automatic sorting method in the present application, and the same portions as those in the first embodiment are not described again.
  • the specific steps are as follows:
  • S2 Acquire a corresponding target sorting port according to the target sorting location information.
  • the goods to be sorted are put into the corresponding target sorting cabinet through the target sorting port.
  • the goods in the target sorting cabinet are packaged and transported to the next sorting port or the next sorting site by the pick-up device.
  • the control center controls the baffle structure to open, so that the goods enter a sorting bag, where the robot or the picking device will be fully loaded.
  • the sorting bag is packaged, such as a drawstring seal, a hot press seal, a zip seal, a custom seal, and the like. After being packaged, it is transported to a different target sorting site by a pick-up device.
  • a storage structure N may be further disposed at the bottom of the sorting cabinet, and the storage structure N may be a packaging bag.
  • the sensing device senses that the sorting cabinet is full of goods
  • the packaging bag self-packages the goods in the sorting cabinet, and the packaged goods to be sorted directly fall into the corresponding picking device.
  • no baffle or storage structure is disposed under the sorting cabinet, and the sensing device is disposed on the sorting cabinet channel.
  • FIG. 5 only schematically shows the setting position of the sensing device.
  • the medium sensing device can also be disposed at other locations, which is not further limited herein.
  • the sensing device may identify the quantity of the incoming goods for the ranging sensor, or the near-field sensing device may sense the label on the goods, obtain the cargo information, such as the weight, volume, etc. of the goods, so as to know the accumulated incoming goods. The total weight, total volume, etc., as a criterion for whether or not to pack.
  • the acquired cargo information can be flexibly set according to the judgment conditions set by the application scenario requirements.
  • the picking device After sensing that the goods to be sorted are placed in the sorting cabinet or the accumulated goods to be sorted meet the packing condition, the picking device is immediately notified to pick up the goods, and the goods picking device is provided with the parts for packing the goods. Pick bags or pack bags.
  • the packaging operation can be done by a picking device.
  • a sensing device may be further disposed on the pick-up device for automatically packaging the goods when the weight or volume of the cargo is sensed to reach a threshold. Packing the goods in the target sorting cabinet also includes:
  • the package information of the goods to be sorted may be pasted on the above-mentioned packaging bag or sorting bag, and the package information includes at least the unified identification of the packaged goods, the quantity information of the goods to be sorted, and the to-be-divided One of the target sorting location information, the transport identification code information, the transport time information, the identification of the goods to be sorted, the identification of the goods to be sorted, and the single number information of the goods to be sorted.
  • the package information of the goods to be sorted may be pasted on the above-mentioned packaging bag or sorting bag, and the package information includes at least the unified identification of the packaged goods, the quantity information of the goods to be sorted, and the to-be-divided One of the target sorting location information, the transport identification code information, the transport time information, the identification of the goods to be sorted, the identification of the goods to be sorted, and the single number information of the goods to be sorted.
  • subsequent operations such as tracking or re-sorting at least one
  • the sensing device may be disposed on the target sorting cabinet, and may specifically be one of a pressure sensor, a distance measuring sensor, a proximity sensor, a near field sensing device, and a tactile sensor, in which sensing is sorted.
  • the control center After the goods to be sorted are placed in the cabinet, the control center notifies the pick-up device to collect the goods that have been placed in the target sorting cabinet.
  • the picking device may be a mobile robot, for example comprising a mobile chassis and a storage mechanism for carrying goods.
  • FIG. 6 is a schematic cross-sectional view of the second embodiment of the sorting cabinet of the present application.
  • the sorting cabinet A can be configured as a downwardly bent pipeline structure, and specifically can be a inclined duct and a multi-plane.
  • the bottom of the sorting cabinet may be provided with a baffle structure M, and the above-mentioned sensing device may be further disposed at the baffle structure.
  • the sensing device is a pressure sensor
  • the control center further informs the pick-up device to collect the goods in the sorting cabinet.
  • the control center may be disposed on the robot or may be a device that exists independently of the robot.
  • the sensing device is a tactile sensor
  • the volume and/or weight of the goods to be sorted in the sorting cabinet when the volume and/or weight reaches a threshold condition, determining the sorting The cabinet is filled and the result is reported to the control center, which further informs the pick-up device to collect the goods in the sorting cabinet.
  • the system may also notify the pick-up personnel to pick up the goods by means of broadcasting or the like.
  • the human resources can be saved, and the operation efficiency of the logistics sorting and transportation industry can be improved.
  • FIG. 7 is a schematic structural diagram of an embodiment of a robot-based automatic sorting system according to the present application.
  • the automatic sorting system includes a robot 20 and a sorting storage device 11, wherein the sorting storage device 11 includes a plurality of sorting cabinets A.
  • the robot 20 is configured to identify the goods to be sorted to obtain the cargo information of the goods to be sorted, and the cargo information includes the target sorting location information; and obtain the corresponding target sorting port a according to the target sorting location information; The sorted goods are placed in the corresponding target sorting cabinet in the target sorting storage device 11 through the target sorting port a.
  • the specific process of the automatic sorting of the sorting goods by the robot 20 in this embodiment may refer to the method provided by the first to third embodiments of the automatic sorting method of the present application or a combination thereof without conflict, where No longer repeat.
  • a plurality of sorting storage devices 11 are disposed around each of the robots 20 to form a sorting unit B.
  • the number of sorting storage devices 11 disposed around the robot 20 is three, and each sorting storage device 11 is provided with a sorting surface (not shown) of the sorting port a facing the robot 20, The pickup face C of each sorting storage device 11 is disposed facing away from the robot 20 or toward the ground.
  • Each sorting unit B has a loading surface D, and the receiving surface D can be docked with a conveying mechanism, such as a conveyor belt, which can directly dock the cargo loaded or directly docked with the processing center of the cargo to unload the cargo in the cargo bay. Delivered to the robot 20 by a conveyor belt, the robot 20 further automatically sorts the unloaded goods to be sorted.
  • the sorting storage device 11 around the robot 20 in each sorting unit may also be set to 4, 5, 6, etc., which is not further defined herein.
  • FIG. 8 is a schematic structural diagram of a second embodiment of the automatic sorting system of the present application.
  • the automatic sorting system 20 includes a plurality of sorting units B1, B2, B3, etc.
  • Each sorting unit includes an incoming surface.
  • the loading surface of the sorting unit is set at least opposite to the loading surface of one adjacent sorting unit.
  • the loading surface D1 of the sorting unit B1 is opposite to the loading surface D2 of the sorting unit B2, and is left between adjacent loading surfaces.
  • the picking surface other than the loading surface D1 of the sorting unit B1 is opposite to the picking surface of the adjacent sorting unit, and a safety channel is also disposed between the adjacent picking surfaces. .
  • a safety channel is provided between adjacent sorting units to prevent the robot from injuring the worker due to excessive speed during the sorting process, thereby ensuring safety during the sorting process.
  • each sorting storage device in the present application may be configured as a downwardly bent pipeline structure, and may specifically be one of a beveled pipe, a multi-planar bent pipe, or a curved pipe.
  • the bottom of each sorting cabinet may be provided with a storage structure or a baffle structure.
  • the connection between the storage structure or the baffle structure and the pipe structure in the embodiment may be provided with a sensing device (not shown) for sensing whether the goods to be sorted are equipped with a full-rated cabinet.
  • the sensing device may be one of a tactile sensor and a pressure sensor.
  • the sensing device may be one of a tactile sensor and a pressure sensor.
  • the automatic sorting system in this embodiment may further include a packing mechanism (not shown), specifically, a bag, and the bag is used to sort the storage structure or the sorting cabinet.
  • the goods are packed.
  • the robot may pack the fully loaded sorting bag (eg, a drawstring seal, a heat seal, a zip seal, a custom seal, etc., which is not further limited herein).
  • the robot automatically recognizes the information of the goods to be sorted, and the robot puts the information into the corresponding target sorting cabinet according to the information of the goods to be sorted, thereby improving the efficiency of sorting and transportation in the logistics industry and saving human resources. And reduce costs.
  • FIG. 9 is a schematic structural view of a first embodiment of a robot according to the present application
  • FIG. 10 is a schematic structural view of a second embodiment of the robot according to the present application.
  • the robot 20 includes a robot arm 21 and an end effector 22 connected to the robot arm, a processor 23 communicatively coupled to the robot arm 21 and the end effector 22, and a storage device 24, wherein the processor 23 is configured to acquire The information of the goods to be sorted, the information to be sorted includes the destination sorting information; and the corresponding sorting port is obtained according to the target sorting information; the control robot 21 and the end effector 22 pass the goods to be sorted The target sorting port is placed in the corresponding target sorting cabinet.
  • the robot in the embodiment performs the method provided by the first to fourth embodiments of the above-described automatic sorting method or the combination thereof without conflict, and is not repeated here.
  • the storage device 24 stores a program file capable of implementing all of the above methods.
  • the processor may be the aforementioned processing center for calling a program file of the storage device to perform the method provided by the first to fourth embodiments or the non-conflicting combination thereof described above, and is not repeated here.
  • the robot 20 may also include identification means for identifying the item to be sorted.
  • the robot 20 obtains the cargo information of the goods to be sorted based on the data acquired by the identification device.
  • the identification device may be a visual sensor for acquiring spatial data of the goods to be sorted, and obtaining, according to the spatial data, the execution of the robot 20 for performing the holding of the goods to be sorted and placing the goods to be sorted to the corresponding target sorting port. path.
  • the identification device may further identify the identification of the goods to be sorted by a technique of radio frequency identification, barcode recognition, two-dimensional code recognition and optical character recognition to obtain corresponding cargo information.
  • the robot automatically recognizes the information of the goods to be sorted, and the robot puts the information into the corresponding target sorting cabinet according to the information of the goods to be sorted, thereby improving the efficiency of sorting and transportation in the logistics industry and saving human resources. And reduce costs.
  • FIG. 11 is a schematic structural diagram of an embodiment of a storage device according to the present application.
  • the storage device of the present application stores a program file 31 capable of implementing all of the above methods, wherein the program file 31 may be stored in the storage device in the form of a software product, including a plurality of instructions for making one or more passable
  • a computer device which may be a personal computer, a server, or a network device, etc.
  • a processor performs all or part of the steps of the methods described in various embodiments of the present application.
  • the foregoing storage device includes: a U disk, a mobile hard disk, a read only memory (ROM, Read-Only) Memory), random access memory (RAM, Random Access Memory, memory, or optical disk, etc., which can store program code, or terminal devices such as computers, servers, mobile phones, and tablets.
  • ROM read only memory
  • RAM Random Access Memory
  • memory or optical disk, etc., which can store program code, or terminal devices such as computers, servers, mobile phones, and tablets.
  • the present application provides a robot-based automatic sorting method, system, robot, and storage device, which automatically recognizes information of a goods to be sorted by a robot, and the robot according to the goods to be sorted.
  • the information is put into the corresponding target sorting cabinet, which can improve the efficiency of sorting and transportation in the logistics industry, save human resources and reduce costs.

Abstract

一种基于机器人的自动分拣方法、系统及机器人、存储装置，方法包括：获取待分拣货物的货物信息，货物信息包括目标分拣地信息（S1）；根据目标分拣地信息获取对应的目标分拣口（S2）；将待分拣货物通过目标分拣口放入对应的目标分拣柜（S3）。上述方法能够提升物流行业分拣运输的效率，节省了人力资源以及降低成本。

Description

基于机器人的自动分拣方法、系统及机器人、存储装置
【技术领域】
本申请涉及智能机器人技术领域，特别是涉及一种基于机器人的自动分拣方法、系统及机器人、存储装置。
【背景技术】
分拣作业是大多数流水化生产线上的一个重要环节，特别是对于物流运输行业。
目前物流行业的仓配集散中心、发送运输时分拣货物的方式仍然是传统的人工判断、分拣、打印包牌等，对作业人员的技能要求较高，且人工作业的方式效率低、准确性难以保证，工作量大。另外，分拣传输需要大量的作业人员，人工成本升高，也使得物流业的成本升高。
【发明内容】
本申请提供一种基于机器人的自动分拣方法、系统及机器人、存储装置，能够提升物流行业分拣运输的效率，节省了人力资源以及降低成本。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种基于机器人的自动分拣方法，所述方法包括：获取所述待分拣货物信息，所述待分拣货物信息包括目标分拣地信息；根据所述目标分拣地信息获取与所述待分拣货物对应的目标分拣口；将所述待分拣货物通过所述目标分拣口放入目标分拣存储装置中对应的目标分拣柜中。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种基于机器人的自动分拣系统，所述系统包括机器人及分拣存储装置，所述分拣存储装置包括多个分拣柜，其中，所述机器人用于获取待分拣货物的货物信息，所述货物信息包括目标分拣地信息及位姿信息；根据所述目标分拣地信息获取应的目标分拣口；将所述待分拣货物通过所述目标分拣口放入目标分拣存储装置中对应的目标分拣柜中。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种机器人，所述机器人包括机械臂、连接于机械臂的末端执行器以及与所述机械臂和末端执行器通信连接的处理器及存储装置；其中，所述处理器用于获取待分拣货物的货物信息，所述货物信息包括目标分拣地信息；以及根据所述目标分拣地信息获取对应的目标分拣口；控制所述机械臂及末端执行器将所述待分拣货物通过所述目标分拣口放入对应的目标分拣柜。
为解决上述技术问题，本申请采用的另一个技术方案是：提供一种存储装置，所述存储装置存储有指令，所述指令执行上述任一所述的自动分拣方法。
本申请的有益效果是：提供一种基于机器人的自动分拣方法、系统及机器人、存储装置，通过自动识别待分拣货物的货物信息，且机器人根据待分拣货物的信息将其放入对应的目标分拣柜中，能够提升物流行业分拣运输的效率，节省了人力资源以及降低成。
【附图说明】
图1是本申请基于机器人自动分拣方法第一实施方式的流程示意图；
图2是本申请基于机器人自动分拣方法第二实施方式的流程示意图；
图3是本申请基于机器人自动分拣方法第三实施方式的流程示意图；
图4是本申请基于机器人自动分拣方法第四实施方式的流程示意图；
图5是本申请分拣柜第一实施方式的截面示意图；
图6是本申请分拣柜第二实施方式的截面示意图；
图7是本申请基于机器人的自动分拣系统一实施方式的结构示意图；
图8是本申请自动分拣系统第二实施方式的结构示意图；
图9是本申请分拣机器人第一实施方式的结构示意图；
图10是本申请分拣机器人第二实施方式的结构示意图；
图11是本申请存储装置一实施方式的结构示意图。
【具体实施方式】
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
请参阅图1，图1为本申请基于机器人自动分拣方法第一实施方式的流程示意图。本实施方式采用的基于机器人的自动分拣方法适用于各物流分拣中心、仓配集散中心、仓储中心等需要货物分类的处理中心，需要将来自不同运输地的不同货物准确的归类并将每一货物运送至不同的目标分拣地。且本申请基于机器人的自动分拣方法可以提高物流运输行业的作业效率，以机器替代人工操作，节省人力资源。为了便于理解，以下结合一应用场景加以阐述本发明原理，但并不用于限制本发明的保护范围。可结合参考图7，该示例中，包括机器20，以及机器人20周围设置的多个分拣存储装置11，形成一分拣单元B。其中，每一分拣存储装置11设置有多个分拣口a。其中每个分拣口a对应一分拣柜A。每个分拣口a对应一目标分拣地信息。从而机器人20依据待分拣货物的目标分拣地信息，放入与其目标分拣地信息对应的目标分拣口a。通过分拣口a进入分拣柜A的货物，可以统一输送到目标分拣地信息对应的下一环节。
本申请的自动分拣方法包括如下步骤：
S1，获取待分拣货物的货物信息，货物信息包括目标分拣地信息。
本实施例中需要将装载车货舱中或集散中心的待分拣货物分别从不同的分拣口运输至不同的目标分拣地。在一基于机器人的自动分拣系统中，例如应用于上述的物流分拣中心，则可采用射频识别、条码识别、二维码识别、视觉识别及光学字符识别中的一种来获取货物信息。具体可以是通过识别装置来获取货物信息。其中，该识别装置可以设置于机器人（具体可以设置在机械臂末端执行器上）、每一分拣存储装置11可以识别范围涵盖所有分拣口的位置或者设置于识别范围涵盖所有分拣单元的所有分拣存储装置11上，且该识别装置可以有多个构成识别系统，用于获取待分拣货物的信息。本申请中所涉及到的识别装置或由多个识别装置组成的识别系统可以具有计算能力，可以根据获取待分拣货物的空间数据得到待分拣货物当前的位姿及目标位姿，还可以计算出机器人所要获持或放置待分拣货物的获持位姿、放置位姿，以及执行路径、轨迹规划等。
其中，控制中心可以设置在机器人上，且每一分拣单元的分拣任务的完成由其机器人独立完成。也就是说由识别装置计算好获持或放置待分拣货物的执行路径或轨迹的规划后，直接发送给机器人上的控制中心，直接执行分拣任务。在具体地还有，控制中心可以为不设置在机器人上，可以为独立于机器人之外的装置，可以由识别装置计算好获持或放置待分拣货物的执行路径或轨迹的规划发送给该控制中心，再由控制中心发送给用以操作该待分拣货物的机器人以完成分拣任务。且识别装置或识别系统的具体工作原理可以参照本申请自动分拣方法第二实施方式实施例的详细描述，此处不再赘述。
在其它实施例中，该识别装置或识别系统也可以是仅仅具有自身获取数据的能力，例如识别装置为视觉传感器时获取空间数据，通过将该数据发送给控制中心，由控制中心根据该数据得到待分拣货物的当前位姿及目标位姿，还可以计算出机器人获持或放置待分拣货物的获持位姿、放置位姿、执行路径以及轨迹规划等，并发送给机器人执行完成分拣任务。
可选地，除了上述获取空间数据的视觉识别方法外，识别装置还可以通过直接识别待分拣货物上的标识信息，例如可以是一维条码、二维码、纹理、图案、颜色等来获取待分拣货物的信息。识别装置包括扫码装置、视觉传感器、相机、光学字符识别装置（Optical Character Recognition, OCR）以及射频识别器等中的至少一种。
其中，待分拣货物的信息可以为包括但不限于待分拣货物的目标分拣地信息，即待分拣货物的最终目标地信息和/或待分拣货物当前分拣任务对应的下一分拣地信息。其中，最终目标地信息可以为包括寄送的地址，根据物流传输系统的运输规则，既可以得到每一分拣对应的下一目标地信息，该下一目标地信息包括当前处理中心下一分拣环节的输入目的地，也可以为当前处理中心的输出目的地，如执行运输的货舱，对应运输货舱的传送带等，也可以为储货地等。
可选地，待分拣货物的信息还可以包括：待分拣货物的描述信息，例如尺寸、形状、重量、类型等；还可以包括待分拣货物的当前位姿信息和/或目标位姿信息，该目标位姿信息为该待分拣货物可放置于对应目标分拣口的位置和/或姿态，即可以为位置、姿态、位姿（位置及姿态）之一；还可以包括机器人用于获持该待分拣货物的获持位姿信息和/或用于放置该待分拣货物的放置位姿信息等等。其中，位姿信息包括位置和/或姿态。获持位姿信息对应于机器人用于根据待分拣货物的当前位姿信息得到的可获持待分拣货物的获持位置和/或姿态。放置位姿信息对应于机器人用于根据目标分拣口的位姿信息以及待分拣货物的描述信息，得到的可将待分拣货物无碰撞置入目标分拣口，以执行放置待分拣货物的位姿和/或姿态。
可选地，所述的待分拣货物还可以是通过一传送机构，例如传送带，直接与待分拣货物的货舱或处理中心对接，机器人直接获取传送带上的待分拣货物。其中，货舱包括陆运货车的车舱，拖车（Trailor）。此外，还可包括集装箱（Container），进而可以通过装载在车辆、船只、飞机，实现陆运、海运、空运。当然，也可以是事先将装载车货舱或集散中心的待分拣货物卸载或放置进一储货装置中，机器人从储货装置中获取待分拣货物。
本申请中待分拣货物的信息也可以是通过分拣系统的控制中心（即上文所述的控制中心不设置于机器人上，而为独立的装置）直接传达给机器人，也即是说待分拣货物的信息存储于该自动分拣系统的控制中心，在机器人根据控制中心获取待分拣货物的信息，可以理解的是，该告知可以为控制中心主动告知，也可以是机器人请求后告知，且此处不做进一步地限定。具体地，待分拣货物的信息也可以是直接存储在机器人上的控制中心。
S2，根据目标分拣地信息获取对应的目标分拣口。
根据步骤S1中识别待分拣货物所获取的待分拣货物的目标分拣地信息，进一步获取与该待分拣货物对应的目标分拣地信息对应的目标分拣口。其中，一种实施方式中，可以进一步结合图7，每一分拣存储装置11的分拣口a对应分拣柜的位置相对固定，一旦设置好并启用后，分拣口a的位置不会改变，故自动分拣系统的控制中心可以预先将每一所述分拣口a对应的位置及姿态计算好并存储在控制中心。具体地，在获取到待分拣货物的目标分拣地信息后，控制中心将该待分拣货物对应的目标分拣口的信息，如标识、位姿发送给机器人，机器人根据该目标分拣口的位姿以及待分拣货物的当前位姿，规划该待分拣货物由当前位姿到符合置入目标分拣口的目标位姿的执行路径。其中，机器人的目标位姿依据目标分拣口的位姿以及待分拣货物的货物信息，由控制中心计算得到。当机器人依据执行路径到达该目标位姿和姿态，放置该待分拣货物。
此外，在本实施例的另一应用场景中，上述的控制中心可以直接设置在机器人上，故每一分拣口对应的位置及姿态计算好后直接存储在机器人的控制中心上，由机器人自身的控制系统直接进行后续待分拣货物位置及姿态的计算等。
另一实施方式中，机器人根据视觉传感器获取的分拣柜的空间数据，根据空间数据得到待分拣货物对应目标分拣口的位姿。该视觉传感器可以设置于机器人，也可以设置于分拣装置，或设置于可获取分拣装置分拣口空间数据的位置
可选地，在其它实施方式中，每一分拣口处还可以设置一信号装置，当机器人的识别装置获取到待分拣货物目标分拣地信息后，对应该目标分拣地信息分拣口的信号装置发出信号，机器人可以根据该信号装置的信号来获取该目标分拣口的位置和姿态信息。其中，每一信号装置和每一分拣口绑定，即信号装置对应的分拣口的位置和姿态信息绑定且预先存储在控制中心。当获得待分拣货物的目标分拣地信息后，与其对应的目标分拣口的信号装置发出信号，控制中心将该目标分拣口对应的位置和姿态信息发送给机器人的末端执行器。其中，分拣口对应的位置和姿态信息可以包括与信号装置发出的信号中，也可以为根据该信号获取对应的位置和姿态信息。可以理解的是，该方式中，分拣存储装置的信号装置与控制中心、机器人通信连接。当然在其他实施方式中，也可以采用其他的方式来获取分拣口的位置和姿态信息，本申请不做进一步限定。
S3，将待分拣货物通过目标分拣口放入对应的目标分拣柜。
在获取到待分拣货物的目标分拣地信息及其对应的目标分拣口的位姿信息后，机器人将该待分拣货物通过对应的目标分拣口放入分拣存储装置中对应的目标分拣柜中，以完成待分拣货物的自动分类分拣。
上述实施方式中，机器人通过获取待分拣货物的目标分拣地信息及其目标分拣口，并根据待分拣货物的目标分拣地信息及其目标分拣口将所述待分拣货物进行自动分拣，能够节省人力资源，提升物流分拣运输行业的作业效率。
请参阅图2，图2为本申请基于机器人自动分拣方法第二实施方式的流程示意图。该示例是基于第一实施方式中步骤S3提供的第二实施方式的流程示意图，可结合参看图1中步骤S3。本实施例将主要针对第一实施方式中步骤S3做进一步扩展，具体包括如下子步骤：
S31，根据待分拣货物的位姿信息及机器人末端执行器的第一位姿信息进行第一路径规划。
本实施例中，待分拣货物的信息可以是通过设置于机械臂或机械臂末端执行器上的识别装置来获取。可以结合图7和图8，该识别装置也可以是设置在分拣存储装11可识别范围涵盖所有分拣口a的位置或者设置于识别范围涵盖分拣单元B的所有分拣存储装置11上，此处不做进一步限定。
其中，待分拣货物的信息可以为待分拣货物当前位置和/或姿态、待分拣货物的类型、描述信息以及重量等信息。其中，待分拣货物的类型可以包括易碎、不规则刚性物体、可形变物体等，以提供机器人更好的执行符合不同类型特性的抓取方案。具体来说，当识别装置为视觉传感器时，机器人在根据视觉传感器得到该待分拣货物的空间数据，例如待分拣货物的三维图像、网格（Mesh）曲面描述数据、体素（Voxel）等空间描述信息。一种方式下，可以根据空间描述信息得到该待分拣货物的长、宽、高等尺寸描述信息，假设待分拣货物为圆柱体，则可根据控制按数据获取该圆柱体的长、底面半径等尺寸描述信息等等。根据待分拣货物的空间描述信息还可以获得该待分拣货物位置和姿态信息。
其他实施方式中，可以根据视觉传感器获取待分拣货物的图像，识别待分拣货物上的标识，根据标识得到对应的待分拣货物的货物信息，可以包括待分拣货物当前位置和/或当前姿态、目标位置和/或目标姿态、获持位置和/或获持姿态、放置位置和/或放置姿态、待分拣货物的类型、描述信息以及重量等信息中的一个或多个。该方式下，识别装置可以为采用射频识别、条码识别、二维码识别及光学字符识别中的一种技术识别待分拣货物的标识得到对应的货物信息。进而可以根据货物信息，规划机器人末端执行器适宜获持该待分拣货物的获持位姿信息。还可以进一步根据目标分拣口的位姿、描述信息等，以及待放置货物信息，得到满足将待放置货物置入目标分拣口条件下待放置货物的目标位姿信息，规划机器人末端执行器适宜获持该待分拣货物的获持位姿信息。
可选地，还可以进一步获取到待分拣货物的类型以及重量，进而在后续控制机械臂末端执行器在获持或放置待分拣货物时的动作。具体而言，在识别到待分拣货物为易碎易裂或液体类型时，则控制机械臂末端执行器在获持或放置该待分拣货物时的速度较慢，以保证该待分拣货物的完整性。其他实施方式中，机器人包括多种末端执行器，例如包括机械手以及吸盘，则可以根据不同类型的待分拣货物控制不同的末端执行器执行。例如，当货物信息包括的类型为可形变物体，或待获持货物的体积、重量大于机械手的执行范畴时，则控制吸盘获持该待分拣货物。还可以根据货物信息的重量参数，控制末端执行器的获持参数，例如当末端执行器为吸盘时，调整吸盘的吸力。可以理解的是，根据货物信息，可以灵活根据货物特性规划得到机器人不同的获持方案。
在其它实施方式中，当上述的待分拣货物的形状无法充分描述时，即当待分拣货物为不规则的形状或其形状可变时，则需要识别并获取描述该待分拣货物的具体参数信息，进而计算得到该待分拣货物的位置和姿态信息，以及规划末端执行器获持的方案。
进一步，根据待分拣货物的当前位姿信息可以计算得到机器人末端执行器获持待分拣货物的第一位姿信息。其中，该第一位姿信息的计算可以是由识别装置根据待分拣货物的当前位姿信息直接计算得到，也可以由机器人或者控制中心计算而得到。该第一位姿信息可以为上述的获持位姿信息，也可以为与待分拣货物具有第一距离的接近位姿，以便到达接近位姿后再趋近待分拣货物，根据末端执行器逐步趋势时的感知反馈，得到更加准确的获持位姿。进一步结合待分拣货物的当前位姿信息得到的获持位姿以及机器人末端执行器第一位姿信息，进行第一路径规划。根据第一路径规划得到机器人用于获持待分拣货物的第一路径。其中，第一位姿信息可以为末端执行器当前的位置和/或姿态。该第一路径可以直接由识别装置进行计算得来，也可以是机器人或者控制中心计算得来。还可以根据该第一路径得到机器人用于获持待分拣货物的第一轨迹。该第一轨迹包括第一路径以及执行速度，进而获持该待分拣货物。
S32，执行第一路径以获持待分拣货物。
在具体实施例中，执行第一路径规划以获持待分拣货物。其中，末端执行器的获持待分拣货物执行速度的规划可以根据待分拣货物的类型来进行具体的规划，比如若待分拣货物为液体或易碎品，则机械臂末端执行器的执行速度可以控制在最佳范围内，以保证货物的完整性。
请参阅图3，图3为本申请基于机器人自动分拣方法第三实施方式的流程示意图。该示例是基于第一实施方式中步骤S3提供的第三实施方式的流程示意图，可结合参看图1中步骤S3。本实施例将主要针对第一实施方式中步骤S3做进一步扩展，具体包括如下子步骤：
S31a，获取目标分拣口的位姿信息。
在机器人末端执行器获持所述待分拣货物后，进一步根据待分拣货物的目标分拣地信息，获取与该待分拣货物目标分拣地信息对应的目标分拣口，具体可以包括获取该目标分拣口的位姿信息。本实施例中，每一分拣存储装置的分拣口对应分拣柜的位置相对固定，设置好并启用后，每一分拣口的位置的一般不会改变，故自动分拣系统的控制中心预先每一所述分拣口对应的位置和姿态信息计算好并存储在控制中心。在机器人获持待分拣货物后，控制中心可以将该待分拣货物对应的目标分拣口的位姿信息发送给机器人。此外，在本实施例的另一应用场景中，上述的控制中心可以直接设置在机器人上，故每一分拣口对应的位置及姿态计算好后直接存储在机器人的控制中心上，由机器人自身的控制系统直接进行后续待分拣货物位置及姿态的计算等。
可选地，在机械臂末端执行器获持到待分拣货物后，进一步根据目标分拣口的位姿信息及待分拣货物信息，例如可以是如上所述的待分拣货物的类型、描述信息、重量等等，控制中心计算并得到符合该待分拣货物放入目标分拣口的目标位姿信息。进一步，还可以包括分拣口的描述信息，例如，尺寸信息。当获取到待分拣货物的为长方体时，则根据分拣口的位姿信息、尺寸信息以及该待分拣货物的长宽高等信息，计算得到符合该货物无碰撞进入目标分拣口的目标位姿信息。如待分拣货物处于竖立姿态时，待分拣货物高度大于目标分拣口的高度，但待分拣货物处于横向姿态时，高度小于目标分拣口的高度，则待分拣货物的目标姿态为以横向姿态时长度方向平行于目标分拣口长度方向的姿态进入。其中，待分拣货物的目标位姿信息包括该目标姿态以及进入目标分拣口的目标位置。根据该待分拣货物的目标位姿信息机器人的放置位姿信息，即当机器人末端执行器处于放置位姿时，其获持的待分拣货物处于目标位姿。当待分拣货物的形状无法充分描述时，即当待分拣货物为不规则的形状或其形状可变时，则需要根据待分拣货物的具体参数信息及分拣口的位姿信息，计算以得到符合该待分拣货物的最佳放置位置，且具体情况本申请在此不一一列举。且待分拣货物的最佳放置的目标位姿信息的计算可以由机器人或者控制中心计算得到。
S32a，根据目标分拣口的位姿信息和机器人末端执行器获持待分拣货物后的第二位姿信息进行第二路径规划。
步骤S31a中，进一步获取机械臂末端执行器获持待分拣货物后的第二位姿信息，结合目标分拣口的位姿信息，控制中心进行第二路径规划。根据第二路径规划得到机器人用于放置待分拣货物进入目标分拣口的第二路径。还可以根据第二路径规划得到机器人用于放置待分拣货物进入目标分拣口的第二轨迹，该第二轨迹包括第二路径以及执行速度。
S33a，执行第二路径并将待分拣货物放入目标分拣口对应的目标分拣柜中。
机器人根据第二路径规划得到的第二路径或第二轨迹执行，到达符合待放置货物无碰撞进入目标分拣口的放置位姿，控制末端执行器执行放置，例如末端执行器为机械手则张开各手指，末端执行器为吸盘则关闭吸力，进而将待分拣货物放置入目标分拣口对应的目标分拣柜中。且此处待分拣货物放置入目标分拣口a对应的目标分拣柜A中，可以结合参照图7，此处不再赘述。
且本实施例中的机械臂末端执行器获持待分拣货物后的第二位姿信息的计算也可以是由识别装置直接计算得到，当然也可以是由机器人或者控制中心计算而得到。且本实施例中的第二路径规划和第一路径规划的执行主体相似，都可以是机器人或者控制中心进行计算得到。
其他实施方式中，待分拣信息还可以包括上述第一路径或第一轨迹、第二路径或第二轨迹。例如，分拣系统已规划好机器人将待分拣货物置入对应目标分拣口的执行路径或执行轨迹，当识别装置识别到待分拣货物的标识，分拣机器人可直接获得并执行第一路径或第一轨迹、第二路径或第二轨迹，无需计算。
其他实施方式中，控制中心可以设置于分拣机器人，则分拣机器人可独立完成包括上述控制中心执行的所有方法步骤。
上述实施方式中，通过采用机器人自动识别并获取待分拣货物信息，并将待分拣货物进行自动分拣，能够节省人力资源，提升物流分拣运输行业的作业效率。
请参阅图4，图4为本申请基于机器人自动分拣方法第四实施方式的流程示意图。本实施方式是在本申请基于机器人自动分拣方法第一实施方式基础上的进一步扩展，且与第一实施方式中相同的部分不再赘述，具体步骤如下：
S1，获取待分拣货物的货物信息，货物信息包括目标分拣地信息。
S2，根据目标分拣地信息获取对应的目标分拣口。
S3，将待分拣货物通过目标分拣口放入对应的目标分拣柜。
S4，将目标分拣柜中的货物进行打包。
将目标分拣柜中的货物进行打包，再通过取货装置将其运送至下一分拣口或者下一分拣地。可选地，当感知到分拣柜中装满待分拣货物后，控制中心控制挡板结构打开，以使得所述货物进入一分拣袋，此处可以是机器人或取货装置将满载的分拣袋进行打包，例如抽绳封口，热压封口、拉链封口、订装封口等等。且打包完后，通过取货装置将其运送至不同的目标分拣地。
进一步参阅图5，图5为本申请分拣柜第一实施方式的截面示意图，如图，可进一步在分拣柜的底部设置储货结构N，该储货结构N具体可以是打包袋，在感知装置感应到分拣柜装满货物时，打包袋自行将所述分拣柜中的货物打包，且打包完后的待分拣货物直接落入对应的取货装置中。
在其它实施例中，所述分拣柜下方不设置挡板或者储货结构，感知装置设置在分拣柜通道上，当然图5只是示意性的给出了该感知装置的设置位置，本申请中感知装置还可以设置在其它位置上，本申请不做进一步的限定。该示例中，感知装置可以为测距传感器可以识别进入货物的数量，也可以为近场感应装置可以感应货物上的标签，获取货物信息，例如货物的重量、体积等，从而可以获知累积进入货物的总重量、总体积等，以作为是否打包的判断条件。可以理解的而是，获取的货物信息可以依据应用场景需求设定的判断条件灵活设置。在感应到分拣柜中放置有待分拣货物后或累积进入的待分拣货物满足打包条件，立刻通知取货装置进行取货，且该取货装置上放置有对所述货物进行打包的分拣袋或者打包袋。可选地，打包操作可以由取货装置完成。取货装置上可以进一步设置一感知装置，用于在感知到所述货物的重量或者体积达到一阈值时，对货物进行自动打包。将目标分拣柜中的货物进行打包，还包括：
S5，打印货物的打包信息。
根据整个运输体系的需求，可以在上述的打包袋或者分拣袋上粘贴待分拣货物的打包信息，且该打包信息至少包括该被打包货物的统一标识、待分拣货物数量信息、待分拣货物的目标分拣地信息、运输工具标识码信息、运输时间信息以及待分拣货物的标识、待分拣货物的标识、待分拣货物的单号信息中的一种。以便提供后续操作对该统一打包在一起的至少一个货物进行跟踪或再次分拣等操作。
S6，通知取货装置收取待目标分拣柜中的分拣货物。
在本申请一应用场景中，目标分拣柜上可以设置感知装置，具体可以为包括但不限于压力传感器、测距传感器、接近传感器、近场感应装置及触觉传感器的一种，在感应到分拣柜中放置有待分拣货物后，通过控制中心通知取货装置收取已放入该目标分拣柜中的货物。可选地，该取货装置可以为移动机器人，例如包括移动底盘以及用于承载货物的储货机构。
请进一步参见图6，图6为本申请分拣柜第二实施方式的截面示意图，且本申请中分拣柜A可以设置为向下弯折的管道结构，且具体可以为斜面管道、多平面弯折管道或弯曲管道中的一种。可选地，分拣柜的底部可以设置有挡板结构M，且上述的感知装置可以进一步设置在该挡板结构处。可选地，感知装置为压力传感器时，通过感应所述分拣柜中的待分拣货物的重量，当该重量达到一阈值条件时，则判定该分拣柜装满并将此结果上报至控制中心，控制中心进一步通知取货装置收取该分拣柜中的货物。当然，该控制中心可以是设置于机器人上的，也可以是独立于机器人而存在的装置。
可选地，当感知装置为触觉传感器时，通过感应所述分拣柜中的待分拣货物的体积和/或重量，当该体积和/或重量达到一阈值条件时，则判定该分拣柜装满并将此结果上报至控制中心，控制中心进一步通知取货装置收取该分拣柜中的货物。
当然，在其它实施例中，也可以是系统通过广播等形式通知取货人员进行取货。
上述实施方式中，通过采用机器人自动识别并获取待分拣货物信息，并将待分拣货物进行自动分拣和运输，能够节省人力资源，提升物流分拣运输行业的作业效率。
请参见图7，图7为本申请基于机器人的自动分拣系统一实施方式的结构示意图。如图，该自动分拣系统包括：机器人20及分拣存储装置11，其中分拣存储装置11包括多个分拣柜A。
其中，机器人20用于识别待分拣货物，以获取待分拣货物的货物信息，且货物信息包括目标分拣地信息；根据目标分拣地信息获取对应的目标分拣口a；将待分拣货物通过目标分拣口a放入目标分拣存储装置11中对应的目标分拣柜中。
可选地，本实施例中的机器人20对待分拣货物的自动分拣的具体流程可以参考本申请自动分拣方法第一到第三实施方式或者其不冲突的组合所提供的方法，此处不再重复。
进一步参阅图7，每一机器人20的周围设置多个分拣存储装置11，形成一分拣单元B。在本实施例中，机器人20周围设置的分拣存储装置11的个数为3个，且每一分拣存储装置11设置分拣口a的分拣面（图未示）面向机器人20设置，每一分拣存储装置11的取货面C背向机器人20设置或朝向地面方向设置。每一分拣单元B都留有入货面D，且该入货面D可以和传送机构，例如传送带对接，传送带可以直接对接装载货物的或与货物的处理中心直接对接以便将货舱中卸载的货物通过传送带输送至机器人20处，机器人20进一步将卸载的待分拣货物进行自动分拣。
在其它实施例中，每一分拣单元中机器人20周围的分拣存储装置11还可以设置为4个、5个、6个等等，此处不做进一步限定。
请进一步参阅图8，图8为本申请自动分拣系统第二实施方式的结构示意图。如图，该自动分拣系统20包括由多个分拣单元B1、B2、B3……等组成。每一分拣单元包括入货面。其中，分拣单元的入货面至少与一个相邻分拣单元的入货面相对设置。举例来说，本实施例中，如图6所示的分拣系统，分拣单元B1的入货面D1与分拣单元B2的入货面D2相对设置，且相邻入货面之间留有安全通道。进一步，与所述分拣单元B1的除入货面D1之外的取货面均和其相邻设置分拣单元的取货面相对设置，且相邻的取货面之间也设置安全通道。
本实施例中，在相邻的分拣单元间设置安全通道，可以防止机器人在分拣的过程中由于速度过大误伤到工作人员，保证分拣过程中的安全性。
可选地，本申请中每一分拣存储装置中的分拣柜可以设置为向下弯折的管道结构，且具体可以是为斜面管道、多平面弯折管道或弯曲管道中的一种，且每一分拣柜的底部可以设置有储货结构或者挡板结构，具体实施方式可以参见图5及图6中关于分拣柜的具体描述，此处不再赘述。可选地，本实施例中的储货结构或挡板结构与管道结构的连接处可以设置有感知装置（图未示），用于感知所述待分拣货物是否装满分拣柜。其中，感知装置可以为触觉传感器及压力传感器中的一种，其感知装置的具体实施方式可以参见上文实施例中的具体描述，此处不再赘述。
可选地，本实施例中的自动分拣系统还可以包括一打包机构（图未示），具体可以是打包袋，且该打包袋用于将上述存储结构或分拣柜中的待分拣货物进行打包。在具体实施例中，可以是机器人把满载的分拣袋打包（如抽绳封口，热压封口、拉链封口、订装封口等等，此处本申请不做进一步限定。
上述实施方式，通过机器人自动识别待分拣货物的信息，且机器人根据待分拣货物的信息将其放入对应的目标分拣柜中，能够提升物流行业分拣运输的效率，节省了人力资源以及降低成本。
请参阅图9及图10，图9为本申请机器人第一实施方式的结构示意图，图10为本申请机器人第二实施方式的结构示意图。如图，机器人20包括：机械臂21以及连接于机械臂的末端执行器22以及与机械臂21、末端执行器22通信连接的处理器23、存储装置24其中，其中，处理器23用于获取待分拣货物的货物信息，待分拣货物信息包括目标分拣地信息；以及根据目标分拣地信息获取对应的目标分拣口；控制机械臂21及末端执行器22将待分拣货物通过目标分拣口放入对应的目标分拣柜。且本实施例中的机器人执行上述自动分拣方法第一到第四实施方式或者其不冲突的组合所提供的方法，此处不再重复。
其中，存储装置24存储有能够实现上述所有方法的程序文件。处理器可以为前述的处理中心，用于调用存储装置的程序文件以执行上述自动分拣方法第一到第四实施方式或者其不冲突的组合所提供的方法，此处不再重复。
机器人20还可以包括识别装置，用于识别待分拣货物。机器人20根据识别装置获取的数据获得待分拣货物的货物信息。例如，识别装置可以为视觉传感器，用于获取待分拣货物的空间数据，根据空间数据得到机器人20用于执行获持待分拣货物以及放置待分拣货物至对应的目标分拣口的执行路径。具体方法可参照第二实施方式所述的第一路径或第一轨迹以及第二路径或第二轨迹的方法，此处不再重复。识别装置还可以为通过射频识别、条码识别、二维码识别及光学字符识别中的一种技术，识别待分拣货物的标识得到对应的货物信息。
上述实施方式，通过机器人自动识别待分拣货物的信息，且机器人根据待分拣货物的信息将其放入对应的目标分拣柜中，能够提升物流行业分拣运输的效率，节省了人力资源以及降低成本。
请参阅图11，图11为本申请存储装置一实施方式的结构示意图。本申请的存储装置存储有能够实现上述所有方法的程序文件31，其中，该程序文件31可以以软件产品的形式存储在上述存储装置中，包括若干指令用以使得一台或多台可通行的计算机设备（可以是个人计算机，服务器，或者网络设备等）或处理器（processor）执行本申请各个实施方式所述方法的全部或部分步骤。而前述的存储装置包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质，或者是计算机、服务器、手机、平板等终端设备。
综上所述，本领域技术人员容易理解，本申请提供一种基于机器人的自动分拣方法、系统及机器人、存储装置，通过机器人自动识别待分拣货物的信息，且机器人根据待分拣货物的信息将其放入对应的目标分拣柜中，能够提升物流行业分拣运输的效率，节省了人力资源以及降低成本。
以上所述仅为本申请的实施方式，并非因此限制本申请的专利范围，凡是利用本申请说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本申请的专利保护范围内。

Claims (21)

  1. 一种基于机器人的自动分拣方法，其特征在于，所述方法包括：
    获取待分拣货物的货物信息，所述货物信息包括目标分拣地信息；
    根据所述目标分拣地信息获取对应的目标分拣口；
    将所述待分拣货物通过所述目标分拣口放入对应的目标分拣柜。
  2. 根据权利要求1所述的方法，其特征在于，所述获取所述待分拣货物的方法采用射频识别、条码识别、二维码识别、视觉识别及光学字符识别中的一种。
  3. 根据权利要求1所述的方法，其特征在于，将所述待分拣货物放入对应的目标分拣柜中包括：
    根据所述待分拣货物的位姿信息及机器人末端执行器的第一位姿信息进行第一路径规划；
    执行第一路径以获持所述待分拣货物。
  4. 根据权利要求1所述的方法，其特征在于，将所述待分拣货物放入对应的目标分拣柜中包括：
    获取所述目标分拣口的位姿信息；
    根据所述目标分拣口的位姿信息和所述机器人末端执行器获持所述待分拣货物后的第二位姿信息进行第二路径规划;
    执行第二路径并将所述待分拣货物放入所述目标分拣口对应的目标分拣柜中。
  5. 根据权利要求1所述的方法，其特征在于，所述货物信息包括待分拣货物当前位置和/或当前姿态、目标位置和/或目标姿态、获持位置和/或获持姿态、放置位置和/或放置姿态、类型、描述信息、尺寸、重量、第一路径、第一轨迹、第二轨迹及第二路径中的至少一个。
  6. 根据权利要求1-5中任一所述的方法，其特征在于，所述方法进一步包括：
    通知取货装置收取所述目标分拣柜中的货物。
  7. 根据权利要求6所述的方法，其特征在于，所述通知取货装置收取所述目标分拣柜中的货物之前进一步包括：
    将所述目标分拣柜中的所述货物进行打包。
  8. 根据权利要求6所述的方法，其特征在于，所述将所述目标分拣柜中的所述货物进行打包，还包括打印所述货物的打包信息，所述打包信息至少包括被打包货物的统一标识、待分拣货物数量信息、所述待分拣货物的目标分拣地信息、运输工具标识码信息、运输时间信息以及所述待分拣货物的标识、待分拣货物的单号信息中的一种。
  9. 一种基于机器人的自动分拣系统，其特征在于，所述系统包括机器人及分拣存储装置，所述分拣存储装置包括多个分拣柜；
    其中，所述机器人用于获取待分拣货物的货物信息，所述货物信息包括目标分拣地信息；根据所述目标分拣地信息获取对应的目标分拣口；将所述待分拣货物通过所述目标分拣口放入对应的目标分拣柜中。
  10. 根据权利要求9所述的自动分拣系统，其特征在于，每一所述机器人周围设置多个所述分拣存储装置形成分拣单元。
  11. 根据权利要求10所述的自动分拣系统，其特征在于，每一所述分拣单元中的所述分拣存储装置的分拣面面向所述机器人设置，每一所述分拣存储装置的取货面背向所述机器人设置。
  12. 根据权利要求10所述的自动分拣系统，其特征在于，所述每一分拣单元设置有入货面，且每一所述分拣单元的所述入货面至少与一个相邻所述分拣单元的入货面相对设置，以形成安全通道。
  13. 根据权利要求9所述的自动分拣系统，其特征在于，所述每一分拣柜设置为向下弯折的管道结构。
  14. 根据权利要求13所述的自动分拣系统，其特征在于，所述向下弯折的管道结构设置为斜面管道、多平面弯折管道或弯曲管道中的一种。
  15. 根据权利要求13所述的自动分拣系统，其特征在于，所述每一分拣柜的底部设置有储货结构或挡板结构。
  16. 根据权利要求15所述的自动分拣系统，其特征在于，所述储货结构或所述挡板结构与所述管道结构的连接处设置有感知装置，所述感知装置用于感知待分拣货物。
  17. 根据权利要求16所述的自动分拣系统，其特征在于，所述感知装置为触觉传感器、压力传感器、测距传感器及近场感应装置中的一种。
  18. 根据权利要求9所述的自动分拣系统，其特征在于，所述自动分拣系统包括打包机构，所述打包机构用于将分拣柜中的货物进行打包。
  19. 根据权利要求9所述的分拣系统，其特征在于，每一所述分拣口处设置信号装置，所述信号装置用于指示所述分拣口的位姿信息。
  20. 一种机器人，其特征在于，所述机器人包括机械臂及连接于机械臂末端执行器，以及与所述机械臂和末端执行器通信连接的处理器及存储装置；
    其中，所述处理器用于获取待分拣货物的货物信息，所述货物信息包括目标分拣地信息；以及根据所述目标分拣地信息获取对应的目标分拣口；控制所述机械臂及末端执行器将所述待分拣货物通过所述目标分拣口放入对应的目标分拣柜。
  21. 一种存储装置，其特征在于，所述存储装置存储有指令，所述指令执行权利要求1-8中任一所述的自动分拣方法。
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