WO2021018193A1 - 一种控制仓库机器人存取库存物料的方法 - Google Patents

一种控制仓库机器人存取库存物料的方法 Download PDF

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Publication number
WO2021018193A1
WO2021018193A1 PCT/CN2020/105514 CN2020105514W WO2021018193A1 WO 2021018193 A1 WO2021018193 A1 WO 2021018193A1 CN 2020105514 W CN2020105514 W CN 2020105514W WO 2021018193 A1 WO2021018193 A1 WO 2021018193A1
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WO
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Prior art keywords
handling device
material handling
stock material
stock
inventory
Prior art date
Application number
PCT/CN2020/105514
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English (en)
French (fr)
Inventor
林翰
Original Assignee
深圳市海柔创新科技有限公司
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Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=66538872&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2021018193(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from CN201711135812.7A external-priority patent/CN108069180A/zh
Priority claimed from CN201711141498.3A external-priority patent/CN108122016B/zh
Application filed by 深圳市海柔创新科技有限公司 filed Critical 深圳市海柔创新科技有限公司
Priority to JP2022506403A priority Critical patent/JP7359940B2/ja
Priority to KR1020227002267A priority patent/KR20220024865A/ko
Priority to EP20847847.9A priority patent/EP4005948A4/en
Publication of WO2021018193A1 publication Critical patent/WO2021018193A1/zh
Priority to US17/585,828 priority patent/US20220153522A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
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    • B66—HOISTING; LIFTING; HAULING
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    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
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    • B66—HOISTING; LIFTING; HAULING
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Definitions

  • the invention relates to the field of intelligent storage, in particular to a method for controlling warehouse robots to deposit and withdraw inventory materials.
  • Machines have been used in the warehouse to transport goods from the warehouse to the loading dock, or vice versa. At first, machines were mainly used to carry heavy goods or large materials to save humans from exhausting labor. The latest developments in artificial intelligence and robotics technology have produced advanced machines that are seeking to replace humans not only in industrial environments, but also in many areas of daily life.
  • a fully automated machine can accept orders, take out materials from the warehouse, and deliver them to a designated place, which is more sci-fi than reality.
  • Some well-known systems such as the kiva system, can complete the simple mechanical movement of large shelves from one designated location to another.
  • the functions of the fully automatic system such as extracting stock materials from designated shelves and storing them in the warehouse, while being able to navigate in a crowded warehouse full of obstacles and being able to process stock materials in shifted locations, are not yet commercially available Realized in warehouse robot system.
  • one of the objectives of the present invention is to teach a method for controlling warehouse robots to access inventory materials, which can store and retrieve inventory materials in accordance with instructions.
  • the warehouse robot system disclosed in this article is flexible, efficient and fault-tolerant, and is particularly suitable for use in warehouses full of shelves.
  • a method for controlling warehouse robots to access inventory materials is provided.
  • the inventory materials on the shelves are arranged in the front row and the back row.
  • the method includes: receiving an instruction to transport a first inventory material; and obtaining the first inventory material from the received instruction
  • the positioning of the first stock material includes the position, depth and direction of the first stock material.
  • the depth of the first stock material indicates that the first stock material is located in the back row; it instructs the warehouse robot to move to the first stock material Location; check whether the second stock material is in the front row of the first stock material; if there is no second stock material in the front row, extend the material handling device to the back row to obtain the first stock material; if there is a second stock in the front row For materials, take out the second stock material from the front row and place it on the empty first pallet; take the first stock material from the back row and place the first stock material on the empty second pallet; and place the second stock material on the empty second pallet. Back to the shelf.
  • the instructing the warehouse robot to move to the position of the first stock material further includes: instructing the material handling device to rotate to the direction of the first stock material.
  • the taking out the first stock material or the taking out the second stock material includes: instructing the warehouse robot to obtain the relative relationship between the designated stock material and the material handling device Position; Calculate the position deviation of the designated inventory material based on the relative position of the designated inventory material and the material handling device; adjust the posture of the warehouse robot to compensate for the position deviation of the designated inventory material; and instruct the material handling device to extend.
  • the taking out the first stock material or the second stock material further includes: after adjusting the posture of the warehouse robot and before the material handling device extends, again instructing the warehouse robot to obtain the designated stock material and The relative position of the material handling device, and update the relative position of the specified inventory material and the material handling device in the database, and recalculate the position deviation of the specified inventory material based on the updated relative position, and adjust the warehouse robot again according to the recalculated position deviation attitude.
  • the taking out the first stock material or the second stock material further includes: after adjusting the posture of the warehouse robot and before the material handling device is extended, judging whether the material handling device can be extended. Collision shelf.
  • the material handling device is instructed to lift up and down and the identification code of the shelf is read, and the relative position of the material handling device and the shelf is obtained according to the identification code of the shelf.
  • the relative position of the material handling device and the shelf is used to determine the extension of the material handling device. Whether it will collide with the shelf.
  • the designated inventory material is the first inventory material
  • the instructing the material handling device to extend includes: instructing the material handling device to extend to the front row; instructing the warehouse robot to obtain the relative position of the first inventory material and the material handling device Calculate the position deviation of the designated inventory material based on the relative position of the first inventory material and the material handling device; adjust the posture of the warehouse robot to compensate for the position deviation of the first inventory material; instruct the material handling device to continue to extend to the back row.
  • the instructing the material handling device to extend further includes: if the warehouse robot fails to obtain the relative position of the first stock material and the material handling device, instructing the material handling device to continue to extend the preset distance, and In the process of extending the material handling device, the warehouse robot is instructed to obtain the relative position of the first stock material and the material handling device again.
  • the instructing the material handling device to extend further includes: after adjusting the posture of the warehouse robot, and before the material handling device continues to extend to the back row, again instructing the warehouse robot to obtain the first inventory material and material handling The relative position of the device, and update the relative position of the first stock material and the material handling device in the database, and recalculate the position deviation of the first stock material based on the updated relative position, and adjust the warehouse robot again according to the recalculated position deviation attitude.
  • the relative position of the designated stock material and the material handling device is designated, the material handling device is instructed to take image information of the designated stock material, and the image information is acquired according to the image difference algorithm.
  • the relative position of the designated stock material and the material handling device is obtained by indicating the identification code of the designated stock material read by the material handling device.
  • the material handling device if the material handling device fails to read the identification code of the specified inventory material, the material handling device is instructed to repeatedly lift at a preset amplitude, and during the lifting process of the material handling device, the material handling device is again instructed to read Take the identification code of the specified inventory material.
  • the material handling device when the material handling device reads the identification code of the designated stock material, it is checked whether the identification code is reversed.
  • the adjusting the posture of the warehouse robot includes: adjusting the chassis of the warehouse robot, and/or, if the identification code of the designated inventory material in the field of view of the material handling device is not complete, rotating the material handling device to make The identification code of the designated stock material in the field of view of the photographing component is more complete.
  • the present application provides a method for controlling warehouse robots to access inventory materials.
  • a material handling device By instructing a material handling device to take out inventory materials and store them on pallets, it is possible to extract inventory materials from designated shelves and store them in In the warehouse, at the same time realize the navigation in the crowded warehouse full of obstacles and be able to handle the inventory materials in the transferred location.
  • the shelves can be arranged in two rows, thereby reducing the area occupied by the shelves in the warehouse and taking out the blocked stock materials.
  • Figure 1 is an exemplary illustration of an AGV designed specifically for warehouses
  • Figure 2 is an exemplary disassembly diagram of the warehouse AGV robot
  • Figure 3 is an exemplary illustration of a lifting device as part of a multi-stage frame
  • Fig. 4 is an exemplary illustration of a driving device
  • Fig. 5 is an exemplary illustration of the driving device using a motor
  • Figures 6a-6d are exemplary illustrations of part of the material handling device
  • Figure 7 is an exemplary illustration of a first embodiment of a transverse device of a material handling device
  • Figure 8 is an exemplary illustration of a second embodiment of the transverse device of the material handling device
  • Figure 9 is a flowchart showing the process of the warehouse AGV processing an instruction to take out an inventory material
  • FIG. 10 is a flowchart showing a process in which the warehouse AGV processes an instruction to take out the first stock material located behind an obstacle.
  • the AGV 100 of an embodiment includes a driving unit 110, a multi-level rack 120 and a material handling device 130.
  • the driving unit 110 is configured to drive and propel the AGV 100.
  • the multi-level shelf 120 includes one or more flat plates 122 and a lifting device 124.
  • the lifting device 124 is connected to the material handling device 130 and can lift or lower the material handling device 130.
  • the material handling device 130 includes a tray, a transverse device and a retractable device, which will be explained in subsequent chapters of this disclosure.
  • FIG. 2 is an exploded view of the AGV 100 of an embodiment.
  • FIG. 2 illustrates the internal components within the housing 202.
  • the multi-level shelf 120 is shown as including a vertical frame 226, a bracket 228 supporting the plate 122, and the lifting device 124.
  • FIG. 3 illustrates the vertical frame 226 and the lifting device 124 in more detail.
  • the bracket 226 includes two uprights 315 and a plurality of uprights 316.
  • the lifting device 124 includes two synchronous wheel drive devices 343 and a lifting drive mechanism 342.
  • the two synchronous wheel drive devices 343 are installed on the column 315.
  • the lifting device 124 may include more than two synchronous wheel driving devices 343.
  • each of the synchronous wheel driving devices 343 includes a tension wheel 331, a driving synchronous wheel 330 and a synchronous belt 332.
  • the synchronous wheel drive device 343 is connected to the lift drive mechanism 342.
  • the lifting driving mechanism 342 drives the driving synchronization wheel 330 to move the belt 332 so as to lift the material handling device 130 up and down the multi-level shelf 120.
  • the lifting drive mechanism 342 of an embodiment includes a motor 320, a drive shaft 321 and a gear box 322.
  • the motor 320 may be replaced by a hydraulic drive system or a pneumatic motor or any other type of motor.
  • the driving shaft 321 connects the driving synchronous wheel 330 to the motor 320 through the gear box 322 and transmits the kinetic energy of the motor 320 to the driving synchronous wheel 330 to drive the lifting device 124.
  • the driving shaft 321 is connected to two driving synchronization wheels (not shown), and ensures that the two driving synchronization wheels move synchronously.
  • two balance weights 333 are installed on the top of the multi-level shelf 120. Due to the weight carried by the balance weight 333, the balance weight 333 can move along the upright 315, and can control and buffer the movement and momentum of the lifting device 124.
  • the lifting device 124 is implemented as a synchronous wheel drive system. Other mechanisms using sprocket, rack and pinion, worm gear, and/or lifting screw can also be used to implement the lifting device 124.
  • the driving device 110 is opened in FIG. 2.
  • the details of the driving device 110 are shown in the exploded view of the driving device 110 in FIG. 4.
  • the driving unit 110 in FIG. 4 includes a base 422, a shaft seat 415 and a shock absorber bracket 425.
  • the upright 315 is fixed on the base 422 so as to install the multi-level shelf 120 on the driving device 110.
  • the base has two surfaces, an upper surface 421 and a lower surface 420.
  • the shaft seat 415 and the shock absorber bracket 425 are used to accommodate two driving wheels 413 through a driving wheel groove 426 and a mounting groove 424.
  • the mounting slot 424 is located in the middle of the base 422, and the two driving wheels 413 are located below the mounting slot 424 to support the base 422.
  • Four driven wheels 412 are also installed on the four corners of the base 422 to provide support and facilitate movement.
  • the four driving wheels 412 are installed in the driving wheel groove 426. In some embodiments, there may be more than four or less than four driven wheels.
  • the driven wheel may be a universal wheel or other types of steering wheels.
  • FIG. 5 illustrates an embodiment of the driving wheel 413.
  • the driving wheel 413 includes a driving wheel support 530, a driving wheel body 531, a hub driving device 532 and a hub speed reduction device 533.
  • the driving wheel bracket 530 includes a pair of hub brackets 534, a shaft 535 and a pair of shock absorbers 536.
  • the hub driving device 532 is installed in the middle of the driving wheel bracket 530 along the central axis S2.
  • the hub driving device 532 is connected to the driving wheel body 531 to provide driving force for driving the driving wheel 413.
  • the hub driving device 532 is located between the hub brackets 534.
  • the two shock absorbers 536 are respectively located on one side of each hub bracket 534.
  • the shock absorber 536 is connected to the shock absorber bracket 425 shown in FIG. 4 through the mounting groove 424.
  • the hub bracket 534 is connected to the shaft body 535, and the shaft body 535 is also connected to the shaft seat 415 through the mounting groove 424.
  • the shock absorber 536 and the hub bracket 534 form an angle. This structure can be used to absorb impact or eccentric force, especially when the AGV 100 turns.
  • the hub driving device 532 may be an electric motor, a hydraulic driving system, a pneumatic motor or other types of motors.
  • the AGV 100 of an embodiment includes the multi-level rack 120 shown in FIGS. 2 and 3, the driving device 110 shown in FIG. 4, and as shown in FIGS. 6a to 6d
  • the material handling device 130 is shown.
  • the material handling device 130 is shown as including a tray 633, a robotic arm 632, a bracket 631, two sliding parts 610, a photographing assembly 640, a main lighting device 641 and an auxiliary lighting device 642 .
  • only one of the two sliding members 610 is shown in FIG. 6a.
  • the material processing device 130 can be extended or retracted along S6 by the movement of the sliding member 610.
  • the material handling device 130 can also move laterally.
  • the material handling device 130 in order to realize lateral movement, is configured to be rotatable around S5.
  • the material handling device 130 is configured to rotate the tray 633 to the left or right by 90°.
  • the material handling device 130 in order to realize lateral movement, is configured to move the tray 633 to the left or right. In order to translate the tray 633, the material handling device 130 moves the tray 633 parallel to S7.
  • the mechanical arm 632 is configured to retract or extend along the sliding member 610 and move the tray 633 along S6.
  • the robotic arm 632 includes a telescopic arm 636 and a push rod assembly 637 for performing retracting and extending motions.
  • FIG. 6b shows an exploded view of the material handling device 130 according to an embodiment. The exploded view in FIG. 6b depicts five components of the material handling device 130 to show detailed parts in each component.
  • the tray 633 is depicted on the top of the slider 610. Move the tray 633 to one side to reveal the structure of the slider 610 in FIG. 6b.
  • the sliding member 610 is connected to a rotating assembly 638 and a fork 639.
  • the rotating assembly 638 is configured to rotate the tray 633 around S6.
  • the details of the rotating assembly 638 are shown in FIG. 7 and explained as follows.
  • the material handling device 130 translates the tray 633 instead of rotating the tray 633, as shown in FIG. 8.
  • the sliding member 610 is a part of the telescopic device provided in other embodiments of the present invention.
  • the rotating assembly 638 is a part of the lateral device provided in other embodiments of the present invention. Another embodiment of the transverse device is shown in FIG. 8.
  • the push rod assembly 637 is shown as including a fixed push rod 670, a movable push rod 671, a driving device 672, and an inner articulated arm 662.
  • the inner section arm 662 may be installed in a middle section arm 661, and the middle section arm 661 may be installed in an outer section arm 660.
  • the driving device 672 can drive the moving push rod 671 to open or close relative to the inner articulated arm 662.
  • the moving push rod 671 can be used to move stock materials to or from the tray 633.
  • the protective plate 635 shown in FIG. 6b is installed around the tray 633 to prevent the contents of the tray 633 from falling off.
  • Figure 6c provides another enlarged view of the material handling device 130.
  • Two outer joint arms 660 are respectively installed on each side of the tray 633.
  • the photographing assembly 640 and the main lighting device 641 are installed at the front of the material handling device 130.
  • FIG. 6c also depicts the first driving device 663 connected to the outer articulated arm 660.
  • Figure 6d depicts the second driving device 664 connected to the middle arm 661.
  • Any one of the first drive device 663 and the second drive device 664 includes a telescopic drive device (3631, 3641 respectively) and a sprocket device (3630 and 3640 respectively).
  • the first driving device 663 may include a sprocket device
  • the second driving device 664 may include a flat belt device (not shown).
  • the first or second driving device 663 or 664 may include an open-loop flat belt device (not shown) instead of a sprocket device or a flat belt device, so as to facilitate the operation of the material handling device 130 Extend or retract movement.
  • the material handling device 130 is configured to rotate the tray 633 or translate the tray 633 so as to realize lateral movement in the process of storing or retrieving an inventory material.
  • shelves are arranged in rows, and the material handling device 130 that can move laterally to reach the inside of the shelves is particularly advantageous.
  • the material handling device 130 can rotate the pallet 633, or move the pallet 633 to the right or without rotating the entire AGV 100. Left. Since the AGV 100 does not require turning space, the space between the shelves can be as narrow as the width of the AGV 100. In this way, when the AGV100 moves between shelves, picks up or stores inventory materials, it requires less space than a conventional warehouse robot.
  • 7 and 8 illustrate two embodiments for realizing the lateral movement of the material handling device 130.
  • Fig. 7 shows the rotating assembly 638 shown in Fig. 6b.
  • the rotating assembly 638 includes a rotating driving device 712 and a positioning device 714.
  • the rotation driving device 712 includes a driving motor (not shown) and a set of driving gears 724.
  • the driving motor is, for example, an electric motor, a hydraulic driving system or a pneumatic motor.
  • the driving gear is, for example, a worm gear mechanism, a planetary gear mechanism or other types of gear structures.
  • the positioning device 714 includes a first angle sensor 716, a second angle sensor 720, a first proximity switch 726, a second proximity switch 728, and a detection board 718.
  • the positioning device 714 also includes a rotation controller not shown in FIG. 7.
  • the first angle sensor 716 and the second angle sensor 720 are located on the circumference of the driving gear 724 and are separated by a certain distance. These two sensors are used to detect whether the tray 633 of the material handling device 130 has been rotated to a designated position. Since the tray 633 is driven by the rotation driving device 712, the first and second proximity switches 726 and 728 move together with the tray 633. By detecting when the corresponding one of the first or second proximity switches 726 or 728 is detected by the corresponding one of the first or second angle sensors 716 or 720, the angular rotation amount of the tray 633 can be determined by the rotation Controller detection and control.
  • the rotation controller of FIG. 7 controls the robotic arm 632 and the tray 633 to rotate 90° to the right or left to provide lateral movement of the material handling device 130 to reach the right side laterally Or the shelf on the left.
  • FIG. 8 shows a mechanism different from the rotating assembly 638, which can also be used to provide lateral movement to the tray 633.
  • the robot arm 632 includes two sliding mechanisms 852, 854, 852 for X-axis movement, and 854 for Y-axis movement.
  • the sliding mechanism 852 moves the mechanical arm 632 to extend or retract the mechanical arm 632.
  • the sliding mechanism 854 moves the mechanical arm 632 laterally to the left or right.
  • two photographing components 856 are installed on both sides of the mechanical arm 632 for optical detection.
  • the device can be configured to rotate 90° to the left or right.
  • the material handling device 130 driven by the system shown in FIG. 8 does not rotate, but only to the left or right slide. Therefore, in FIG. 6a, only one imaging assembly 640 is required in front of the material handling device 130, while in FIG. 8, two imaging assemblies 856 are installed on both sides of the arm 632.
  • Figure 1-8 shows an AGV100 with the advantages of agility and flexibility.
  • Figure 9 shows the flow chart of the AGV100 storing or taking out inventory materials.
  • Figure 9 only shows the process of taking out the material.
  • the storage process of inventory items is similar, and for reasons of brevity, no detailed description is given. Those skilled in the art can obtain the process of storing the stock materials from the process of taking out the stock materials shown in FIG. 9.
  • the AGV 100 receives an instruction to take out inventory materials from the warehouse shelf.
  • the instruction may only include the identification code of the inventory material, and the AGV 100 uses the identification code to find the location information of the material.
  • the instruction may include the location of the inventory material, and the AGV 100 may extract the location information of the material to be taken out according to the instruction.
  • the positioning information includes the location of the stock material, such as x-coordinate and y-coordinate (coordinate), or row number and column number, etc., and the direction and height of the stock material, such as the shelf level where the material is stored. According to the location information of the material, the AGV100 navigates around the warehouse and approaches the location of the stock material.
  • the main lighting device 641 is turned on (step 904).
  • the AGV 100 attempts to read the identification code on the inventory material (step 906).
  • the identification code may be a two-dimensional code. In other embodiments, the identification code may be any barcode.
  • the AGV 100 reports to the server and terminates the task (step 950).
  • the AGV 100 can recognize the identification code, the position deviation of the inventory material is calculated (step 908).
  • the AGV 100 is configured to report the position deviation of the stock materials obtained by it to the server (step 910).
  • the server is configured to use the location deviation and warehouse layout to determine the exact location of the inventory material (step 912). Then, the server updates its database with the exact location of the inventory material (step 914).
  • the AGV 100 further determines whether the material handling device 130 can directly reach the stock material from the position of the AGV 100 (step 924). If so, the AGV 100 further adjusts or fine-tunes the posture of the material handling device 130 (step 932), and then extends the material handling device 130 while moving the AGV 100 (step 934) to slightly adjust the relative position or Direction (step 936). If so, the AGV 100 also determines whether the tray 633 is within a preset range (step 922). If not, the AGV 100 will slightly adjust the AGV's position (920), and try to read the identification code again (step 906).
  • the AGV 100 adjusts the posture of the material handling device 130 and rotates the tray 633 (step 926).
  • the identification code is read again to determine whether the position deviation is within the threshold (step 928). If the position deviation is within the threshold range, the AGV 100 extends the material handling device 130 to reach the stock material (step 930). If the position deviation is inappropriate or within the preset threshold, the AGV 100 will extend the material handling device (step 934) to adjust the posture of the AGV 100 and the relative position of the stock materials (step 936).
  • the AGV 100 is configured to find and take out the stock material hidden behind an object or another stock material.
  • the AGV 100 is configured to receive an instruction indicating the location of the first stock material to be obtained from the server. The positioning includes the location, depth and direction of the first stock material. If there is no stock material in the front row, AGV 100 is configured to obtain the first stock material from the back row of the shelf. If there is a second inventory material in the front row, the AGV 100 is configured to obtain the second inventory material and place the second inventory material on the first pallet on the multi-level shelf 120, which is empty (step 1002) . Then the AGV 100 takes out the first stock material and places the first stock material on the empty second tray on the multi-layer frame 120 (step 1004). After taking out the first stock material, the AGV 100 puts the second stock material back on the shelf (step 1006).
  • the shelves used in the warehouse may allow two or more rows of inventory materials to be placed or stored in the shelves.
  • AGV 100 and the location information stored for each inventory material are modified or adjusted to fit the double-row deep shelves.
  • the AGV 100 first receives the instruction to transport the first stock material.
  • the instruction may include the location of the first stock material, such as the location, depth, and direction of the first stock material. If the depth of the first stock material indicates that the material is located in the front row of the shelf, the removal process of AGV 100 is the same as described previously.
  • the AGV 100's take-out process may require the AGV 100 to remove the stock material in the front row in order to reach the first stock material in the back row.
  • AGV 100 is configured to take the second inventory item in the front row and place it on one of the empty pallets, and then take the first inventory item from the back row and place it on the other empty pallet . After that, the robot puts the front row materials back to the front row. In fact, if the AGV 100 is instructed to take out the first and second inventory items and they happen to be in the same position but in different rows, the AGV 100 does not need to put the second inventory item back on the shelf.
  • the AGV 100 is configured to detect the position deviation of the first or second stock material and adjust the attitude and position of the AGV 100, the position of the first stock material before reaching the shelf to obtain the first stock material, and Reach the shelf to obtain the position of the second stock material before the second stock material. In an embodiment, the AGV 100 may repeat the position adjustment process until the detected position offset is less than the threshold. In one embodiment, the AGV 100 is configured to report the position offset to the server to allow the server to update the map of the warehouse. The map of the warehouse can show the layout, that is, the location of shelves and the storage location of inventory materials.
  • the instructing the warehouse robot to move to the position of the first stock material further includes: instructing the material handling device to rotate to the direction of the first stock material. If the material handling device can only handle stock materials from one direction, the material handling device needs to be rotated so that the stock materials are located in the direction of the material handling device. In some other embodiments, by adjusting the position of the AGV100, the stock material is positioned in the direction of the material handling device, but it takes longer and lower efficiency.
  • the taking out the first inventory material or the second inventory material includes: instructing the warehouse robot to obtain the relative position of the designated inventory material and the material handling device; based on the relative position of the designated inventory material and the material handling device Calculate the position deviation of the designated stock material; adjust the posture of the warehouse robot to compensate for the position deviation of the designated stock material; and instruct the material handling device to extend. According to the relative position of the stock material and the material handling device, it can be judged whether the material handling device can directly reach the stock material.
  • the taking out the first stock material or the second stock material further includes: after adjusting the posture of the warehouse robot and before the material handling device extends, again instructing the warehouse robot to obtain the designated stock material and The relative position of the material handling device, and update the relative position of the specified inventory material and the material handling device in the database, and recalculate the position deviation of the specified inventory material based on the updated relative position, and adjust the warehouse robot again according to the recalculated position deviation attitude.
  • the taking out the first stock material or the second stock material further includes: after adjusting the posture of the warehouse robot and before the material handling device is extended, judging whether the material handling device can be extended. Collision shelf. Through this step, it is possible to avoid the material handling device or inventory material damage caused by the material handling device being extended and colliding with the shelf. If it is determined that the material handling device extends back to collide with the shelf, it enters an error mode. In error mode, the material handling device is reset and re-operated. After re-operating, it will be judged again. If it is still wrong, it will report to the server and suspend work.
  • the material handling device is instructed to lift up and down and the identification code of the shelf is read, and the relative position of the material handling device and the shelf is obtained according to the identification code of the shelf.
  • the relative position of the material handling device and the shelf is used to determine the extension of the material handling device. Whether it will collide with the shelf.
  • the identification code of the shelf is located above or below the inventory material. If it is above, it instructs the material handling device to lift to read the identification code of the shelf, otherwise, it instructs the material handling device to descend to read the identification code of the shelf.
  • the designated inventory material is the first inventory material
  • the instructing the material handling device to extend includes: instructing the material handling device to extend to the front row and stay for a preset time; instructing the warehouse robot to obtain the first inventory material and the material The relative position of the handling device; calculate the position deviation of the designated stock material based on the relative position of the first stock material and the material handling device; adjust the posture of the warehouse robot to compensate for the position deviation of the first stock material; instruct the material handling device to continue extending To the back row.
  • the material handling device extends to the front row, the distance from the first stock material is shortened to improve the accuracy of the obtained relative position.
  • the instructing the material handling device to extend further includes: if the warehouse robot fails to obtain the relative position of the first stock material and the material handling device, instructing the material handling device to continue to extend the preset distance, and In the process of extending the material handling device, the warehouse robot is instructed to obtain the relative position of the first stock material and the material handling device again.
  • the instructing the material handling device to extend further includes: after adjusting the posture of the warehouse robot, and before the material handling device continues to extend to the back row, again instructing the warehouse robot to obtain the first inventory material and material handling The relative position of the device, and update the relative position of the first stock material and the material handling device in the database, and recalculate the position deviation of the first stock material based on the updated relative position, and adjust the warehouse robot again according to the recalculated position deviation attitude.
  • the relative position of the designated stock material and the material handling device is designated, the material handling device is instructed to take image information of the designated stock material, and the image information is acquired according to the image difference algorithm.
  • the relative position of the designated stock material and the material handling device is obtained by indicating the identification code of the designated stock material read by the material handling device.
  • the material handling device if the material handling device fails to read the identification code of the specified inventory material, the material handling device is instructed to repeatedly lift at a preset amplitude, and during the lifting process of the material handling device, the material handling device is again instructed to read Take the identification code of the specified inventory material. If the identification code of the inventory material is not successfully read again, the error mode is entered.
  • the material handling device when the material handling device reads the identification code of the designated stock material, it is checked whether the identification code is reversed. If the posting is wrong, report to the server to notify the staff to correct it.
  • the adjusting the posture of the warehouse robot includes: adjusting the chassis of the warehouse robot, and/or, if the identification code of the designated inventory material in the field of view of the material handling device is not complete, rotating the material handling device to make The identification code of the designated stock material in the field of view of the photographing component is more complete.
  • the inventory materials are transported to pallets by a material handling device, so that inventory materials are extracted from designated shelves and stored in In the warehouse, at the same time realize the navigation in the crowded warehouse full of obstacles and be able to handle the inventory materials in the transferred location.
  • the shelves can be arranged in two rows, thereby reducing the area occupied by the shelves in the warehouse and taking out the blocked stock materials.

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Abstract

一种控制仓库机器人存取库存物料的方法，货架上的库存物料布置成前排和后排，所述方法包括：指示物料搬运装置取出位于前排的第二库存物料，并放置于第一托盘；指示物料搬运装置取出位于后排的第一库存物料，并放置于第二托盘；指示物料搬运装置将第二库存物料放回至前排。该方法通过指示物料搬运装置取出库存物料并存放于托盘，实现从指定货架上提取库存物料并将库存物料存放在仓库中，同时实现在拥挤的充满障碍物的仓库中导航并能够处理已转移位置的库存物料。

Description

一种控制仓库机器人存取库存物料的方法
本申请要求于2019年07月31日提交中国专利局、申请号为201910703479.8、申请名称为“一种控制仓库机器人存取库存物料的方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
【技术领域】
本发明涉及智能仓储领域，尤其涉及一种控制仓库机器人存取库存物料的方法。
【背景技术】
仓库中已使用机器将货物从仓库运至装卸码头，或者相反。起初，机器主要用于运载重型货物或大型物料，以使人类免于精疲力竭地劳动。人工智能和机器人技术的最新发展已经产生了先进的机器，这些机器不仅在工业环境中，而且在日常生活的许多领域中都在寻求替代人类。
尽管有许多关于自动化和人工智能进步的报告，但精确性和灵活性仍然是机器人落后于人类的两个领域。在仓库设置中，一台完全自动化的机器，它可以接受订单，从仓库中取出物料，并将物料运送到指定的地方，这比现实更科幻。某些著名的系统，如kiva系统，可以完成从一个指定位置到另一个指定位置的大型货架的简单机械移动。但是，全自动系统的功能，例如从指定货架上提取库存物料并将库存物料存放在仓库中，同时能够在拥挤的充满障碍物的仓库中导航并能够处理已转移位置的库存物料，尚未在商用仓库机器人系统中实现。
【发明内容】
因此，本发明的目标之一是教导一种控制仓库机器人存取库存物料的方法，其能够按照指示存储和取出库存物料。本文所公开的仓库机器人系统是灵活、高效和容错的，并且特别适合在堆满货架的仓库中使用。
为了解决上述技术问题，本发明实施例提供以下技术方案：
提供一种控制仓库机器人存取库存物料的方法，货架上的库存物料布置成前排和后排，所述方法包括：接收运输第一库存物料的指令；从所接 收的指令获取第一库存物料的定位，其中第一库存物料的定位包括第一库存物料的位置，深度以及方向，其中第一库存物料的深度指示第一个库存物料位于后排；指示仓库机器人移动到第一个库存物料的位置；检测第二库存物料是否位于第一库存物料的前排；若前排没有第二库存物料，则将物料搬运装置伸出至后排以获取第一库存物料；若前排有第二库存物料，则从前排取出第二库存物料并放在空的第一托盘上；从后排取出第一库存物料并将第一库存物料放在空的第二托盘上；及将第二库存物料放回货架。
在一些实施例中，所述第一库存物料的位置包括第一库存物料的坐标及高度；所述指示仓库机器人移动到第一库存物料的位置包括：指示仓库机器人移动到第一库存物料的坐标附件；及指示物料搬运装置升降至第一库存物料的高度。
在一些实施例中，所述指示仓库机器人移动到第一库存物料的位置还包括：指示物料搬运装置旋转至第一库存物料的方向。
在一些实施例中，设第一库存物料或第二库存物料为指定物料，所述取出第一库存物料或者所述取出第二库存物料包括：指示仓库机器人获取指定库存物料与物料搬运装置的相对位置；基于指定库存物料与物料搬运装置的相对位置来计算指定库存物料的位置偏差；调整仓库机器人的姿态，以补偿指定库存物料的位置偏差；以及指示物料搬运装置伸出。
在一些实施例中，所述取出第一库存物料或者所述取出第二库存物料还包括：在调整仓库机器人的姿态后，并在物料搬运装置伸出之前，再次指示仓库机器人获取指定库存物料与物料搬运装置的相对位置，并在数据库更新指定库存物料与物料搬运装置的相对位置，并基于更新后的相对位置重新计算指定库存物料的位置偏差，以及根据重新计算的位置偏差再次调整仓库机器人的姿态。
在一些实施例中，所述取出第一库存物料或者所述取出第二库存物料还包括：在调整仓库机器人的姿态完毕后，并在物料搬运装置伸出之前，判断物料搬运装置伸出是否会碰撞货架。
在一些实施例中，指示物料搬运装置升降并读取货架的标识码，并根据货架的标识码获取物料搬运装置与货架的相对位置，通过物料搬运装置与货架的相对位置，判断物料搬运装置伸出是否会碰撞货架。
在一些实施例中，指定库存物料为第一库存物料，所述指示物料搬运 装置伸出包括：指示物料搬运装置伸出至前排；指示仓库机器人获取第一库存物料与物料搬运装置的相对位置；基于第一库存物料与物料搬运装置的相对位置来计算指定库存物料的位置偏差；调整仓库机器人的姿态，以补偿第一库存物料的位置偏差；指示物料搬运装置继续伸出至后排。
在一些实施例中，所述指示物料搬运装置伸出还包括：若仓库机器人未成功获取到第一库存物料与物料搬运装置的相对位置，则指示物料搬运装置继续伸出预设距离，并在物料搬运装置伸出的过程中指示仓库机器人再次获取第一库存物料与物料搬运装置的相对位置。
在一些实施例中，所述指示物料搬运装置伸出还包括：在调整仓库机器人的姿态后，并在物料搬运装置继续伸出至后排之前，再次指示仓库机器人获取第一库存物料与物料搬运装置的相对位置，并在数据库更新第一库存物料与物料搬运装置的相对位置，并基于更新后的相对位置重新计算第一库存物料的位置偏差，以及根据重新计算的位置偏差再次调整仓库机器人的姿态。
在一些实施例中，指定库存物料与物料搬运装置的相对位置，通过指示物料搬运装置拍摄指定库存物料的图像信息，并根据图像差分算法处理图像信息获取。
在一些实施例中，指定库存物料与物料搬运装置的相对位置，通过指示物料搬运装置读取到的指定库存物料的标识码获取。
在一些实施例中，若物料搬运装置未成功读取到指定库存物料的标识码，则指示物料搬运装置以预设幅度反复升降，并在物料搬运装置升降的过程中，再次指示物料搬运装置读取指定库存物料的标识码。
在一些实施例中，在物料搬运装置读取到指定库存物料的标识码时，检验标识码是否贴反。
在一些实施例中，所述调整仓库机器人的姿态包括：调整仓库机器人的底盘，和/或，若物料搬运装置的视野内的指定库存物料的标识码不够完整，则旋转物料搬运装置，以使拍摄组件的视野内的指定库存物料的标识码更完整。
与现有技术相比较，本申请提供的一种控制仓库机器人存取库存物料的方法，通过指示物料搬运装置取出库存物料并存放于托盘，实现从指定货架上提取库存物料并将库存物料存放在仓库中，同时实现在拥挤的充满 障碍物的仓库中导航并能够处理已转移位置的库存物料。
另外，通过指示物料搬运装置取出位于第二库存物料后方的第一库存物料，货架可设置成前后两排，从而减少了货架在仓库中占用的面积，并且可取出被遮挡的库存物料。
【附图说明】
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是专为仓库设计的AGV的示例性的图示；
图2是仓库AGV机器人的示例性的拆解图示；
图3是作为多级框架一部分的提升装置的示例性的图示；
图4是驱动装置的示例性的图示；
图5是驱动装置使用电机的示例性的图示；
图6a–图6d是部分物料搬运装置的示例性的图示；
图7是物料搬运装置的横向装置的第一实施例的示例性的图示；
图8是物料搬运装置的横向装置的第二实施例的示例性的图示；
图9是示出仓库AGV处理取出一个库存物料的指令的过程的流程图；
图10是示出仓库AGV处理取出位于障碍物后面的第一库存物料的指令的过程的流程图。
【具体实施方式】
下文参考附图对本发明的实施例进行了更全面的描述，其中显示了本发明的优选实施例。然而，本发明的各种实施例可以多种不同形式体现，不应被解释为仅限于本文所述的实施例。相反，提供这些实施例是为了使本公开彻底和完整，并将本公开的范围完整传达给本领域技术人员。
请参阅图1，一个实施例的AGV 100包括驱动单元110、多级货架120和物料搬运装置130。所述驱动单元110配置为驱动及推进AGV 100。所述多级货架120包括一个或多个平板122及一个提升装置124。所述提升装置124连接于所述物料搬运装置130，并且可以提升或降低所述物料搬运装置130。在图6a至6d中，所述物料搬运装置130包括托盘、横向装 置和可伸缩装置，将在本公开的后续章节中解释。
图2为一个实施例的所述AGV100的分解图。图2说明了罩壳202内的内部部件。在图2中，所述多级货架120显示为包括一个立式框架226，一个支撑所述平板122的支架228，以及所述提升装置124。图3说明了所述立式框架226和所述提升装置124的更多细节。所述支架226包括两个立柱315以及多个立杆316。所述提升装置124包括两个同步轮驱动装置343和一个提升驱动机构342。
所述两个同步轮驱动装置343安装在所述立柱315上。在一些实施例中，所述提升装置124可以包括两个以上的所述同步轮驱动装置343。如图3所示，每个所述同步轮驱动装置343包括一个张紧轮331、一个驱动同步轮330以及一个同步带332。所述同步轮驱动装置343与所述提升驱动机构342相连。所述提升驱动机构342驱动所述驱动同步轮330移动所述皮带332，以便将所述物料搬运装置130向上和向下提升所述多级货架120。在图3中，一个实施例的所述提升驱动机构342包括一个电机320、一个驱动轴321以及一个齿轮箱322。在一些实施例中，所述电机320可替换为液压驱动系统或气动马达或任何其他类型的马达。所述驱动轴321通过所述齿轮箱322将所述驱动同步轮330连接到所述电机320，并将所述电机320的动能输送到所述驱动同步轮330，以驱动所述提升装置124。在一些实施例中，所述驱动轴321连接到两个驱动同步轮(图未示)，并确保两个驱动同步轮同步移动。在图3中，两个平衡块333安装在多级货架120的顶部。由于所述平衡块333所承载的重量，所述平衡块333可以沿着所述立柱315移动，并且可以控制和缓冲所述提升装置124的移动和动量。值得注意的是，在图3中，所述提升装置124作为同步轮驱动系统实施。使用链轮、齿轮齿条、涡轮蜗杆和/或提升丝杆的其他机构也可用于实施所述提升装置124。
将所述物料搬运装置130移到一边后，所述驱动装置110在图2中打开。所述驱动装置110的细节如图4中的所述驱动装置110的分解图所示。图4中的所述驱动单元110包括一个底座422、一个轴座415及一个减震器支架425。所述立柱315固定在所述底座422上，以便将所述多级货架120安装在所述驱动装置110上。
所述底座具有两个表面，一个上表面421和一个下表面420。在所述 底座的上表面421上，所述轴座415和所述减震器支架425用于通过驱动轮槽426和安装槽424容纳两个驱动轮413。所述安装槽424位于所述底座422的中间，所述两个驱动轮413位于安装槽424的下方以支撑所述底座422。四个从动轮412也安装在底座422的四个角上，以提供支撑和方便移动。所述四个驱动轮412安装在所述驱动轮槽426中。在一些实施例中，可能有超过四个或少于四个从动轮。所述从动轮可以是万向轮或其他类型的转向轮。
图5说明了所述驱动轮413的一个实施例。所述驱动轮413包括一个驱动轮支架530、一个驱动轮体531、一个轮毂驱动装置532以及一个轮毂减速装置533。所述驱动轮支架530包括一对轮毂支架534、一个轴体535以及一对减震器536。所述轮毂驱动装置532沿中心轴S2安装在所述驱动轮支架530的中间。所述轮毂驱动装置532与所述驱动轮体531相连，提供驱动所述驱动轮413的驱动力。所述轮毂驱动装置532位于所述轮毂支架534之间。所述两个减震器536分别位于每个所述轮毂支架534的一侧。所述减震器536通过所述安装槽424连接到图4所示的所述减震器支架425上。所述轮毂支架534连接到所述轴体535，所述轴体535也通过所述安装槽424连接到所述轴座415。所述减震器536和所述轮毂支架534形成一个夹角。这种结构可以用来吸收冲击或偏心力，特别是当所述AGV 100转弯时。在一些实施例中，所述轮毂驱动装置532可以是电机、液压驱动系统、气动马达或其他类型的马达。
如图1所示，一个实施例的所述AGV 100包括图2和图3所示的所述多级货架120，如图4所示的所述驱动装置110，以及如图6a至6d所示的所示的所述物料搬运装置130。
在图6a中，所述物料搬运装置130显示为包括一个托盘633、一个机械臂632、一个托架631、两个滑动件610、一个拍摄组件640、一个主照明设备641以及一个辅助照明设备642。有两个机械臂632，所述托盘的每一侧各有一个。但是在图6中只显示了一个。而且，图6a中只显示了所述两个滑动件610中的一个。
在图6a中，显示了三个轴S5、S6和S7。所述物料处理装置130可通过滑动件610的移动沿S6伸出或缩回。所述物料搬运装置130还可以横向移动。在一些实施例中，为了实现横向移动，所述物料搬运装置130配 置为可围绕S5旋转。在一个实施例中，所述物料搬运装置130配置成将所述托盘633向左或向右旋转90°。在一些其他实施例中，为了实现横向移动，所述物料搬运装置130配置为可将所述托盘633向左或向右移动。为了平移所述托盘633，所述物料搬运装置130平行于S7地移动所述托盘633。
所述机械臂632配置为沿所述滑动件610缩回或伸出，并沿S6移动所述托盘633。所述机械臂632包括一个伸缩臂636以及一个用于完成缩回和伸出运动的推杆组件637。图6b示出一个实施例的所述物料搬运装置130的分解图。图6b中的分解图中描绘了所述物料搬运装置130的五个部件，以显示每个部件中的详细零件。在图6a中，所述托盘633被描绘在所述滑动件610的顶部。将所述托盘633移到一侧以显露图6b中所述滑动件610的结构。
在图6b中，所述滑动件610连接于一个旋转组件638及一个货叉639上。所述旋转组件638配置为围绕S6旋转所述托盘633。所述旋转组件638的细节如图7所示，并解释如下。在一些实施例中，所述物料搬运装置130平移所述托盘633，而不是旋转所述托盘633，如图8所示。所述滑动件610是本发明其他实施例中提供的伸缩装置的一部分。所述旋转组件638是本发明其他实施例中提供的横向装置的一部分。所述横向装置的另一个实施例如图8所示。
在图6b中，所述推杆组件637显示为包括一个固定推杆670、一个移动推杆671、一个驱动装置672以及一个内节臂662。所述内节臂662可以安装到一个中节臂661中，而所述中节臂661又可以安装到一个外节臂660中。所述驱动装置672可驱动所述移动推杆671相对于所述内节臂662张开或闭合。所述移动推杆671可用于将库存物料移至所述托盘633上或移离所述托盘633。图6b所示的保护板635安装在所述托盘633周围，可以防止所述托盘633的所容纳物脱落。
图6c提供了所述物料搬运装置130的另一个放大图。两个外节臂660各安装在所述托盘633的每一侧。所述拍摄组件640和所述主照明设备641安装在所述物料搬运装置130的前部。图6c还描述了连接于所述外节臂660的第一驱动装置663。图6d描述了连接于所述中节臂661的第二驱动装置664。所述第一驱动装置663和所述第二驱动装置664中的任意一个 包括伸缩驱动装置(分别为3631、3641)和链轮装置(分别为3630、3640)。在一些实施例中，所述第一驱动装置663可以包括链轮装置，而所述第二驱动装置664可以包括平带装置(图未示)。在一些实施例中，所述第一或第二驱动装置663或664可包括开环平带装置(未示出)，而不是链轮装置或平带装置，以便于所述物料搬运装置130的伸出或回缩运动。
如上所述，所述物料搬运装置130配置为可旋转所述托盘633或平移托盘633，以实现在存储或检索一个库存物料的过程中横向移动。在一个拥挤的仓库里，货架成排摆放，能够横向移动到达货架内部的所述物料搬运装置130尤其有利。当所述AGV 100在两个货架之间移动时，所述物料搬运装置130可以旋转所述托盘633，也可以在不转动整个所述AGV 100的情况下将所述托盘633移动至右侧或左侧。由于所述AGV 100不需要转弯空间，货架之间的空间可以和所述AGV 100的宽度一样窄。如此，当所述AGV100在货架之间移动、拾起或存放库存物料时，它需要的空间比常规的仓库机器人要小。图7和图8说明了用于实现所述物料搬运装置130的横向移动的两个实施例。
图7示出图6b所示的所述旋转组件638。图7中，所述旋转组件638包括一个旋转驱动装置712和一个定位装置714。所述旋转驱动装置712包括驱动电机(未显示)和一组驱动齿轮724。所述驱动电机的例如电动马达、液压驱动系统或气动马达。所述驱动齿轮例如涡轮蜗杆机构、行星轮机构或其他类型的齿轮结构。所述定位装置714包括一个第一角度传感器716、一个第二角度传感器720、一个第一接近开关726、一个第二接近开关728以及一个检测板718。所述定位装置714还包括图7中未显示的旋转控制器。
所述第一角度传感器716和所述第二角度传感器720位于所述驱动齿轮724的圆周上，并相隔一定距离。这两个传感器用于检测所述物料搬运装置130的托盘633是否已转到指定位置。由于所述托盘633由所述旋转驱动装置712驱动，所述第一及第二接近开关726、728与所述托盘633一并运动。通过根据第一或第二角度传感器716或720中的相应一个在何时检测到所述第一或第二接近开关726或728中的相应一个，所述托盘633的角度旋转量可由所述旋转控制器检测和控制。
在一些实施例中，图7的所述旋转控制器控制所述机械臂632和所述 托盘633向右或向左旋转90°，提供所述物料搬运装置130的横向移动，以横向到达右侧或左侧的货架。图8示出了与所述旋转组件638不同的机构，所述旋转组件638也可用于向所述托盘633提供横向移动。
在图8中，所述机械臂632包括两个滑动机构852，854，852用于X轴运动，854用于Y轴运动。所述滑动机构852移动所述机械臂632，使所述机械臂632伸出或缩回。所述滑动机构854将所述机械臂632横向移动到左侧或右侧。在图8中，所述机械臂632的两侧安装了两个拍摄组件856，用于光学检测。与图6a所示的物料搬运装置130相比，该装置可配置为向左或向右旋转90°，图8所示系统驱动的所述物料搬运装置130不旋转，只向左侧或右侧滑动。因此，在图6a中，在所述物料搬运装置130的前面只需要一台拍摄组件640，而在图8中，在臂632的两侧安装了两台拍摄组件856。
图1-8展示了一个具有敏捷灵活优势的AGV100。图9显示了所述AGV100存储或取出库存物料的流程图。为了便于说明，图9只显示了取出物料的过程。库存项目的存储过程类似，出于简洁的原因，没有详细描述。本领域技术人员能够从图9所示的取出库存物料的过程中获得存储库存物料的过程。
在参考图9中，所述AGV100接收到从仓库货架上取出库存物料的指令。在一些实施例中，指令可以仅包括库存物料的标识码，而所述AGV 100使用标识码查找物料的定位信息。在一些实施例中，指令可以包括库存物料的定位，并且AGV 100可以根据该指令提取待取出物料的定位信息。在一个实施例中，定位信息包括库存物料的位置，例如x坐标和y坐标(坐标)，或行号和列号等，以及库存物料的方向和高度，例如存放该物料的货架层级。根据物料的位置信息，AGV100在仓库周围导航并接近库存物料的位置。
当AGV 100到达位置(步骤902)时，打开主照明设备641(步骤904)。AGV 100试图读取库存物料上的标识码(步骤906)。在一些实施例中，标识码可以是二维码。在其他实施例中，标识码可以是任何条码。当AGV 100无法读取识别码时，AGV 100上报服务器并中止任务(步骤950)。当AGV 100能够识别识别码时，计算库存物料的位置偏差(步骤908)。
将AGV 100配置为将其获得的库存物料的位置偏差上报至服务器(步 骤910)。服务器配置为使用位置偏差和仓库布局来确定库存物料的准确位置(步骤912)。然后，服务器使用库存物料的准确位置更新其数据库(步骤914)。
基于位置偏差，AGV 100进一步判断物料搬运装置130从AGV 100的站位是否可以直接到达库存物料(步骤924)。如果是，则AGV 100进一步调整或微调物料搬运装置130的姿态(步骤932)，然后在移动所述AGV 100的同时伸出物料搬运装置130(步骤934)，以略微调整库存物料的相对位置或方向(步骤936)。如果是，所述AGV 100还判断托盘633是否在预设范围内(步骤922)。如果不是，则AGV 100会略微调整AGV的站位(920)，并尝试再次读取识别码(步骤906)。如果托盘633在预设范围内，则AGV 100调整物料搬运装置130的姿态并旋转托盘633(步骤926)。再次读取识别码以确定位置偏差是否在阈值内之前(步骤928)。如果位置偏差在阈值范围内，则AGV 100将物料搬运装置130伸出到达库存物料(步骤930)。如果位置偏差不合适或在预设阈值内，则AGV 100会伸出物料搬运装置(步骤934)，以调整AGV 100的姿态和库存物料的相对位置(步骤936)。
请参阅图10，在一些实施例中，AGV 100配置为找出并取出隐藏在物体或另一个库存物料后面的库存物料。AGV100配置为可以从服务器接收指示要获取第一库存物料的定位的指令。该定位包括第一库存物料的位置，深度以及方向。如果前排中没有库存物料，则AGV 100被配置为从货架的后排获取第一库存物料。如果前排中存在第二库存物料，则AGV 100配置为获取第二库存物料并将第二库存物料放置在多级货架120上的第一托盘上，该第一托盘是空的(步骤1002)。然后AGV 100取出第一库存物料并将第一库存物料放置在多层框架120上的空的第二托盘上(步骤1004)。在取出第一库存物料后，AGV 100将第二库存物料放回至货架上(步骤1006)。
在一些实施例中，仓库中使用的货架可允许将两排或更多排库存物料放置或存储在货架内。在该仓库中，AGV 100和为每个库存物料存储的位置信息被修改或调整以适应双排深度的货架。在控制AGV 100存放或取出放置在该货架上的库存物料的方法中，AGV 100首先接收运输第一库存物料的指令。该指令可以包括第一库存物料的位置，例如第一库存物料的位 置，深度以及方向。如果第一库存物料的深度标明物料位于货架的前排，则AGV 100的取出过程与先前描述的相同。如果第一个库存项目的深度指示该物料位于货架的后排，则AGV 100的取出过程可能需要AGV 100移除前排中的库存物料以便到达在后排中的第一个库存物料。在一些配置中，AGV 100被配置为获取前排中的第二库存物品并将其放置在其中一个空托盘上，然后从后排取出第一库存物料并将其放置在其另一个空托盘上。之后，机器人将前排物料放回到前排。实际上，如果指示AGV 100取出第一和第二库存物品并且它们碰巧在相同位置但在不同行中，则AGV 100不需要将第二库存物品放回到货架。
在一些实施例中，AGV 100被配置为检测第一或第二库存物料的位置偏差并调整AGV100的姿态和位置，在到达货架以取得第一库存物料之前的第一库存物料的位置，以及在到达货架以取得第二库存物料之前的第二库存物料的位置。在一个实施例中，AGV 100可以重复位置调整过程，直到检测到的位置偏移小于阈值。在一个实施例中，AGV 100被配置为向服务器报告位置偏移以允许服务器更新仓库的地图。仓库的地图可以示出布局，即货架的位置和库存物料的存储位置。
在一些实施例中，所述第一库存物料的位置包括第一库存物料的坐标及高度；所述指示仓库机器人移动到第一库存物料的位置包括：指示仓库机器人移动到第一库存物料的坐标附近；及指示物料搬运装置升降至第一库存物料的高度。
在一些实施例中，所述指示仓库机器人移动到第一库存物料的位置还包括：指示物料搬运装置旋转至第一库存物料的方向。若物料搬运装置只能从一个方向搬运库存物料，则需使物料搬运装置旋转，以使库存物料位于物料搬运装置的搬运方向上。在其他一些实施例中，通过调整AGV100的站位，使库存物料位于物料搬运装置的搬运方向上，但是花费时间更长，效率更低。
在一些实施例中，由于取出第一库存物料和取出第二库存物料存在一些相似的步骤，为了简化说明这些相似的步骤，以其中一个库存物料为例进行说明，设第一库存物料或第二库存物料为指定物料，所述取出第一库存物料或者所述取出第二库存物料包括：指示仓库机器人获取指定库存物料与物料搬运装置的相对位置；基于指定库存物料与物料搬运装置的相对 位置来计算指定库存物料的位置偏差；调整仓库机器人的姿态，以补偿指定库存物料的位置偏差；以及指示物料搬运装置伸出。根据库存物料与物料搬运装置的相对位置，即可判断物料搬运装置是否能够直接到达库存物料。
在一些实施例中，所述取出第一库存物料或者所述取出第二库存物料还包括：在调整仓库机器人的姿态后，并在物料搬运装置伸出之前，再次指示仓库机器人获取指定库存物料与物料搬运装置的相对位置，并在数据库更新指定库存物料与物料搬运装置的相对位置，并基于更新后的相对位置重新计算指定库存物料的位置偏差，以及根据重新计算的位置偏差再次调整仓库机器人的姿态。
在一些实施例中，所述取出第一库存物料或者所述取出第二库存物料还包括：在调整仓库机器人的姿态完毕后，并在物料搬运装置伸出之前，判断物料搬运装置伸出是否会碰撞货架。通过此步骤，可避免物料搬运装置伸出后碰撞货架导致物料搬运装置或者库存物料损毁。若判断出物料搬运装置伸出回碰撞货架，则进入错误模式。错误模式，物料搬运装置复位并重新操作，在重新操作后再次判断，若仍错误，则上报服务器并暂停工作。
在一些实施例中，指示物料搬运装置升降并读取货架的标识码，并根据货架的标识码获取物料搬运装置与货架的相对位置，通过物料搬运装置与货架的相对位置，判断物料搬运装置伸出是否会碰撞货架。货架的标识码位于库存物料的上方或者下方，若在上方，则指示物料搬运装置提升以读取货架的标识码，反之，则指示物料搬运装置下降以读取货架的标识码。
在一些实施例中，指定库存物料为第一库存物料，所述指示物料搬运装置伸出包括：指示物料搬运装置伸出至前排并停留预设时间；指示仓库机器人获取第一库存物料与物料搬运装置的相对位置；基于第一库存物料与物料搬运装置的相对位置来计算指定库存物料的位置偏差；调整仓库机器人的姿态，以补偿第一库存物料的位置偏差；指示物料搬运装置继续伸出至后排。在物料搬运装置伸出至前排，缩短了与第一库存物料的距离，以提高所获取的相对位置的精度。
在一些实施例中，所述指示物料搬运装置伸出还包括：若仓库机器人未成功获取到第一库存物料与物料搬运装置的相对位置，则指示物料搬运 装置继续伸出预设距离，并在物料搬运装置伸出的过程中指示仓库机器人再次获取第一库存物料与物料搬运装置的相对位置。
在一些实施例中，所述指示物料搬运装置伸出还包括：在调整仓库机器人的姿态后，并在物料搬运装置继续伸出至后排之前，再次指示仓库机器人获取第一库存物料与物料搬运装置的相对位置，并在数据库更新第一库存物料与物料搬运装置的相对位置，并基于更新后的相对位置重新计算第一库存物料的位置偏差，以及根据重新计算的位置偏差再次调整仓库机器人的姿态。
在一些实施例中，指定库存物料与物料搬运装置的相对位置，通过指示物料搬运装置拍摄指定库存物料的图像信息，并根据图像差分算法处理图像信息获取。
在一些实施例中，指定库存物料与物料搬运装置的相对位置，通过指示物料搬运装置读取到的指定库存物料的标识码获取。
在一些实施例中，若物料搬运装置未成功读取到指定库存物料的标识码，则指示物料搬运装置以预设幅度反复升降，并在物料搬运装置升降的过程中，再次指示物料搬运装置读取指定库存物料的标识码。若再次读取库存物料的标识码未成功，则进入错误模式。
在一些实施例中，在物料搬运装置读取到指定库存物料的标识码时，检验标识码是否贴反。若贴反则上报服务器，以通知工作人员更正。
在一些实施例中，所述调整仓库机器人的姿态包括：调整仓库机器人的底盘，和/或，若物料搬运装置的视野内的指定库存物料的标识码不够完整，则旋转物料搬运装置，以使拍摄组件的视野内的指定库存物料的标识码更完整。
与现有技术相比较，在本申请提供的一种控制仓库机器人存取库存物料的方法中，通过物料搬运装置将库存物料搬运至托盘，实现从指定货架上提取库存物料并将库存物料存放在仓库中，同时实现在拥挤的充满障碍物的仓库中导航并能够处理已转移位置的库存物料。
另外，通过指示物料搬运装置取出位于第二库存物料后方的第一库存物料，货架可设置成前后两排，从而减少了货架在仓库中占用的面积，并且可取出被遮挡的库存物料。
尽管本文参考具体实施例对本发明进行了说明和描述，但本发明并不 打算仅限于所示的细节。相反，在权利要求的范围和范围内，可以在不偏离披露的情况下对细节进行各种修改。

Claims (15)

  1. 一种控制仓库机器人存取库存物料的方法，其特征在于，货架上的库存物料布置成前排和后排，所述方法包括：
    接收运输第一库存物料的指令；
    从所接收的指令获取第一库存物料的定位，其中第一库存物料的定位包括第一库存物料的位置，深度以及方向，其中第一库存物料的深度指示第一个库存物料位于后排；
    指示仓库机器人移动到第一个库存物料的位置；
    检测第二库存物料是否位于第一库存物料的前排；
    若前排没有第二库存物料，则将物料搬运装置伸出至后排以获取第一库存物料；
    若前排有第二库存物料，则从前排取出第二库存物料并放在空的第一托盘上；
    从后排取出第一库存物料并将第一库存物料放在空的第二托盘上；及
    将第二库存物料放回货架。
  2. 如权利要求1所述的方法，其特征在于，所述第一库存物料的位置包括第一库存物料的坐标及高度；
    所述指示仓库机器人移动到第一库存物料的位置包括：
    指示仓库机器人移动到第一库存物料的坐标附近；及
    指示物料搬运装置升降至第一库存物料的高度。
  3. 根据权利要求2所述的方法，其特征在于，所述指示仓库机器人移动到第一库存物料的位置还包括：
    指示物料搬运装置旋转至第一库存物料的方向。
  4. 根据权利要求1所述的方法，其特征在于，设第一库存物料或第二库存物料为指定物料，所述取出第一库存物料或者所述取出第二库存物料包括：
    指示仓库机器人获取指定库存物料与物料搬运装置的相对位置；
    基于指定库存物料与物料搬运装置的相对位置来计算指定库存物料的位置偏差；
    调整仓库机器人的姿态，以补偿指定库存物料的位置偏差；以及
    指示物料搬运装置伸出。
  5. 根据权利要求4所述的方法，其特征在于，所述取出第一库存物料或者所述取出第二库存物料还包括：
    在调整仓库机器人的姿态后，并在物料搬运装置伸出之前，再次指示仓库机器人获取指定库存物料与物料搬运装置的相对位置，并在数据库更新指定库存物料与物料搬运装置的相对位置，并基于更新后的相对位置重新计算指定库存物料的位置偏差，以及根据重新计算的位置偏差再次调整仓库机器人的姿态。
  6. 根据权利要求4所述的方法，其特征在于，所述取出第一库存物料或者所述取出第二库存物料还包括：
    在调整仓库机器人的姿态完毕后，并在物料搬运装置伸出之前，判断物料搬运装置伸出是否会碰撞货架。
  7. 根据权利要求6所述的方法，其特征在于，指示物料搬运装置升降并读取货架的标识码，并根据货架的标识码获取物料搬运装置与货架的相对位置，通过物料搬运装置与货架的相对位置，判断物料搬运装置伸出是否会碰撞货架。
  8. 根据权利要求4所述的方法，其特征在于，指定库存物料为第一库存物料，所述指示物料搬运装置伸出包括：
    指示物料搬运装置伸出至前排；
    指示仓库机器人获取第一库存物料与物料搬运装置的相对位置；
    基于第一库存物料与物料搬运装置的相对位置来计算指定库存物料的位置偏差；
    调整仓库机器人的姿态，以补偿第一库存物料的位置偏差；
    指示物料搬运装置继续伸出至后排。
  9. 根据权利要求8所述的方法，其特征在于，所述指示物料搬运装置伸出还包括：
    若仓库机器人未成功获取到第一库存物料与物料搬运装置的相对位置，则指示物料搬运装置继续伸出预设距离，并在物料搬运装置伸出的过程中指示仓库机器人再次获取第一库存物料与物料搬运装置的相对位置。
  10. 根据权利要求8所述的方法，其特征在于，所述指示物料搬运装置伸出还包括：
    在调整仓库机器人的姿态后，并在物料搬运装置继续伸出至后排之前， 再次指示仓库机器人获取第一库存物料与物料搬运装置的相对位置，并在数据库更新第一库存物料与物料搬运装置的相对位置，并基于更新后的相对位置重新计算第一库存物料的位置偏差，以及根据重新计算的位置偏差再次调整仓库机器人的姿态。
  11. 根据权利要求4至10任一项所述的方法，其特征在于，指定库存物料与物料搬运装置的相对位置，通过指示物料搬运装置拍摄指定库存物料的图像信息，并根据图像差分算法处理图像信息获取。
  12. 根据权利要求4至10任一项所述的方法，其特征在于，指定库存物料与物料搬运装置的相对位置，通过指示物料搬运装置读取到的指定库存物料的标识码获取。
  13. 根据权利要求12所述的方法，其特征在于，若物料搬运装置未成功读取到指定库存物料的标识码，则指示物料搬运装置以预设幅度反复升降，并在物料搬运装置升降的过程中，再次指示物料搬运装置读取指定库存物料的标识码。
  14. 根据权利要求12所述的方法，其特征在于，在物料搬运装置读取到指定库存物料的标识码时，检验标识码是否贴反。
  15. 根据权利要求12所述的方法，其特征在于，所述调整仓库机器人的姿态包括：
    调整仓库机器人的底盘，和/或，若物料搬运装置的视野内的指定库存物料的标识码不够完整，则旋转物料搬运装置，以使拍摄组件的视野内的指定库存物料的标识码更完整。
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US20190352092A1 (en) 2019-11-21
NZ765310A (en) 2022-04-29
DE202018006768U1 (de) 2022-09-12
JP2024055927A (ja) 2024-04-19
CN110498172A (zh) 2019-11-26
EP3710381A1 (en) 2020-09-23
AU2018368406A1 (en) 2020-06-25
CA3084526C (en) 2024-02-20

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