WO2022143140A1 - 货叉碰撞处理方法、装置、机器人、设备、介质及产品 - Google Patents

货叉碰撞处理方法、装置、机器人、设备、介质及产品 Download PDF

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Publication number
WO2022143140A1
WO2022143140A1 PCT/CN2021/137726 CN2021137726W WO2022143140A1 WO 2022143140 A1 WO2022143140 A1 WO 2022143140A1 CN 2021137726 W CN2021137726 W CN 2021137726W WO 2022143140 A1 WO2022143140 A1 WO 2022143140A1
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WIPO (PCT)
Prior art keywords
fork
collision
obstacle
type
strategy
Prior art date
Application number
PCT/CN2021/137726
Other languages
English (en)
French (fr)
Inventor
李汇祥
郑睿群
何家伟
Original Assignee
深圳市海柔创新科技有限公司
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
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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 EP21913881.5A priority Critical patent/EP4273658A4/en
Publication of WO2022143140A1 publication Critical patent/WO2022143140A1/zh
Priority to US18/343,992 priority patent/US20230348249A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors

Definitions

  • the present application relates to the technical field of intelligent warehousing, and in particular, to a fork collision processing method, device, robot, equipment, medium and product.
  • warehouses usually use robots to handle and store goods. Compared with manual processing, robots are more efficient in handling goods.
  • a robot for handling goods and other processing is usually provided with a fork for picking up goods, and the robot can control the fork to perform telescopic, rotating and other actions, so that the fork can take out goods in different directions, or, Place the goods in different positions on the shelf.
  • the present application provides a fork collision processing method, device, robot, equipment, medium and product, which can effectively protect the fork, prevent damage to the fork, and reduce equipment maintenance costs.
  • the present application provides a method for handling a fork collision, including:
  • Fork collisions are handled according to the fork collision handling strategy.
  • the collision types include telescopic boom extension collisions and telescopic boom non-extension collisions.
  • the collision type is a collision when the telescopic arm is not extended, and the fork collision processing strategy is determined according to the collision type, including:
  • the first collision handling strategy includes: controlling the movement speed of the fork to be zero;
  • the second collision handling strategy includes: controlling the moving speed of the fork to be zero, and controlling the first driving element for driving the fork to rotate to stop driving the fork to rotate, so that the fork is in free rotation. state.
  • the first collision handling strategy is determined according to the collision type
  • the second collision handling strategy is determined according to the collision type when the fork is not loaded with cargo.
  • the collision type is a telescopic arm extension collision
  • the fork collision handling strategy is determined according to the collision type, including:
  • the third collision handling strategy includes: controlling the telescopic speed of the telescopic arm to be zero;
  • the fourth collision handling strategy includes: controlling the telescopic speed of the telescopic arm to be zero, and controlling the first driving element for driving the fork to rotate to stop driving the fork to rotate, so that the fork is in free rotation. state;
  • the fifth collision processing strategy includes: controlling the telescopic boom to be zero, and controlling the second driving element for driving the telescopic boom to extend and retract to stop driving the telescopic boom to extend and retract, so that the telescopic boom is in a free retractable state. state;
  • the sixth collision handling strategy includes: controlling the telescopic speed of the telescopic arm to be zero, and controlling the first driving element for driving the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotation state , and controlling the second driving element for driving the telescopic arm to extend and retract to stop driving the telescopic arm to extend and retract, so that the telescopic arm is in a free telescopic state.
  • the third collision handling strategy is determined according to the collision type
  • the fourth collision handling strategy is determined according to the collision type, or the fifth collision handling strategy is determined, or the sixth collision handling strategy is determined.
  • the increase of the operating current of the driving element reaches a first preset threshold, and the duration of reaching the first preset threshold reaches a first preset duration; or,
  • the reduction range of the moving speed of the fork reaches a second preset threshold
  • the increasing magnitude of the operating current of the driving element reaches a third preset threshold, and the duration of reaching the third preset threshold reaches a second preset duration, and the decreasing magnitude of the moving speed of the fork the fourth preset threshold is reached; or,
  • the variation range of the pressure detected by the pressure sensor disposed on the fork reaches a fifth preset threshold
  • the driving element includes at least one of a first driving element for driving the fork to rotate, a second driving element for driving the telescopic arm to extend and retract, and a third driving element for driving the fork to lift and lower kind.
  • it also includes:
  • the collided obstacle is identified, and the obstacle is processed according to the identification result.
  • the processing of the obstacle according to the recognition result includes:
  • the obstacle is transported to the corresponding cargo storage location.
  • it also includes:
  • a fork collision avoidance strategy is executed.
  • the imminent collision of the robot's forks is determined as follows:
  • executing the fork collision avoidance strategy includes:
  • the position of the fork is adjusted so that the fork does not collide with the obstacle.
  • adjusting the position of the fork according to the position of the obstacle, so that the fork does not collide with the obstacle includes:
  • the moving path of the fork is adjusted so that the obstacle is not on the moving path of the fork;
  • the fork When the obstacle is located on the movement path of the fork, the fork is controlled to move to a preset position along the movement path, and the obstacle prompt information is output, wherein the preset position is the movement The position on the path at a preset distance from the obstacle.
  • the present application provides a fork collision handling device, comprising:
  • the type determination module is used to determine the collision type when the collision of the robot's fork is detected
  • the strategy determination module is used to determine the fork collision handling strategy according to the collision type
  • the collision processing module is used for processing the fork collision according to the fork collision processing strategy.
  • the present application provides a robot, comprising: a fork, and the above-mentioned fork collision processing device.
  • the present application provides a computer device, comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned program when the processor executes the program Fork collision handling method.
  • the present application provides a computer-readable storage medium, where computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, are used to implement the above-mentioned fork collision processing method.
  • the present application provides a computer program product, including a computer program, which implements the above-mentioned fork collision processing method when the computer program is executed by a processor.
  • the fork collision processing method, device, robot, equipment, medium and product provided by the present application include: when it is detected that the fork of the robot collides, determining a collision type; determining a fork collision processing strategy according to the collision type; The fork collision handling strategy handles fork collisions.
  • the collision type of the collision of the forks is first determined, then the fork collision processing strategy is determined according to the determined collision type, and finally, the goods are processed according to the determined fork collision processing strategy. Fork collision events are handled.
  • the present application can handle the fork collision event according to the collision type when the fork collision occurs, so that the fork can be effectively protected, the fork is prevented from being damaged, and the equipment maintenance cost can be reduced.
  • FIG. 1 is an application scenario diagram of the fork collision processing method provided by the embodiment of the present application
  • FIG. 2A is a schematic structural diagram of a robot provided by an embodiment of the present application.
  • FIG. 2B is a schematic structural diagram of a fork in the embodiment shown in FIG. 2A of the application;
  • FIG. 2C is a schematic structural diagram of a fork in the embodiment shown in FIG. 2A of the application;
  • FIG. 2D is a schematic structural diagram of another fork in the embodiment shown in FIG. 2A of the application.
  • FIG. 3 is a schematic diagram of a fork collision processing method provided by an embodiment of the present application.
  • FIG. 4 is an exemplary diagram of the positional relationship between a fork and an obstacle in an embodiment of the application
  • 5a is a schematic diagram of a control terminal controlling a fork to avoid obstacles
  • Fig. 5b is another schematic diagram of the control terminal controlling the fork to avoid obstacles
  • FIG. 6 is a schematic diagram of a fork collision processing device provided by an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a computer device provided by an embodiment of the present application.
  • FIG. 1 is an application scenario diagram of the fork collision processing method provided by the embodiment of the present application.
  • the fork collision processing method provided by the embodiment of the present application can be run on a robot or an electronic device. , such as computers, servers, etc., can also be executed by warehouse management equipment or by other equipment in the warehouse system.
  • the intelligent storage system 100 uses the robot 110 to extract and/or store goods on the shelves 120, and uses the warehouse management device 130 to carry out path planning, status monitoring and scheduling for the robot 110, so that the robot 110 can move to a set position to extract the goods.
  • the warehouse management device 130 also stores the storage information of each location of the shelf 120 and the basic information of the goods, so as to facilitate warehouse management.
  • the robot 110 transports one or more goods 121 located on the shelf 120 corresponding to the order task to the conveying operation table area 140 to complete the order task.
  • FIG. 2A is a schematic structural diagram of a robot according to an embodiment of the application.
  • the robot 80 includes a mobile chassis 83 , a storage rack 82 , a fork 84 , and a lifting assembly 81 .
  • the storage racks 82 , the forks 84 and the lifting assembly 81 are all installed on the mobile chassis 83 , and several storage units are arranged on the storage racks 82 .
  • the lift assembly 81 includes a third drive element, which can be used to drive the fork 84 to move up and down, so that the fork 84 is aligned with any storage unit on the storage rack 82, or aligned with the rack and/or the goods.
  • the forks 84 can be rotated about a vertical axis to adjust their orientation for alignment to a storage unit, or to a rack and/or cargo.
  • the forks 84 are used to perform loading or unloading of goods for handling between racks and storage units.
  • the storage racks 82 may be selectively configured or not configured. When the storage racks 82 are not configured, the goods are stored in the accommodating spaces of the forks 84 when the robot 80 is carrying the goods.
  • the robot 80 in the above embodiment may execute the steps involved in handling fork collision in the fork collision handling method provided in any embodiment of the present application, so as to protect the robot forks and avoid damage to the forks.
  • the robot 80 When the robot 80 performs the task of storing the goods, the robot 80 moves to the position of the designated storage space for the goods, and carries the target object from the storage unit of the robot body to the shelf by adjusting the components, such as the rotating mechanism, in cooperation with the fork 84 .
  • FIG. 2B is a schematic structural diagram of a fork in the embodiment shown in FIG. 2A of the present application.
  • the fork 84 is mounted on the bracket 86 through the rotating mechanism 85 , and the first driving element 87 is connected to the rotating mechanism 85 .
  • a vertical axis is rotated to align the storage unit, or to align the shelves and/or goods.
  • Forks 84 are used to carry cargo between the storage unit and the racks. If the fork 84 is not aligned with the rack and/or the goods, the first driving element 87 can drive the rotating mechanism 85 to drive the fork 84 to rotate relative to the bracket 86 to ensure that the fork 84 is aligned with the rack and/or the goods.
  • FIG. 2C is a schematic structural diagram of a fork in the embodiment shown in FIG. 2A of the present application.
  • the fork 84 includes a pallet 841 and a telescopic arm assembly.
  • the pallet 841 is used for placing goods and can be a horizontally arranged flat plate.
  • the telescopic arm assembly is used to push the goods placed on the pallet 841 out of the pallet 841 or pull the goods to the pallet 841 .
  • the telescopic arm assembly includes a telescopic arm 843 , a fixed push rod 842 and a movable push rod 844 .
  • the telescopic arm 843 includes a left telescopic arm and a right telescopic arm.
  • the telescopic arm 843 can be extended horizontally. side.
  • the telescopic arm 843 is powered by the second driving element, and the power is transmitted by the sprocket mechanism. According to the actual situation, the sprocket mechanism can be replaced with a pulley mechanism, a screw mechanism and other transmission mechanisms to drive.
  • Both the fixed push rod 842 and the movable push rod 844 are installed on the telescopic arm 843 , and the fixed push rod 842 and the movable push rod 844 can extend together with the telescopic arm 843 .
  • the fixed push rod 842 and the pallet 841 are located on the same side of the telescopic arm 843 .
  • the fixed push rod 842 is used to push out the goods from the pallet 841 .
  • the movable push rod 844 can be retracted into the telescopic arm 843.
  • the movable push rod 844, the fixed push rod 842 and the support plate 841 are all located on the same side of the telescopic arm 843, and the movable push rod 844 is located in the extending direction of the fixed push rod 842 along the telescopic arm 843 .
  • the movable push rod 844 can be directly driven by a motor, and can also transmit power through a transmission mechanism such as a gear set and a link mechanism according to actual conditions.
  • a transmission mechanism such as a gear set and a link mechanism according to actual conditions.
  • the fixed push rod 842 of the fork 84 can be designed as a finger structure like the movable push rod 844 .
  • the fork 84 can be designed as a structure in which the spacing width of the telescopic arm assembly is adjustable.
  • the spacing width of the telescopic boom assembly can be adjusted according to the size of the goods.
  • the fork 84 may also include a steering structure, such as a turntable, which may be used to change the orientation of the goods placed on the pallet 841 thereof.
  • FIG. 2D is a schematic structural diagram of another fork in the embodiment shown in FIG. 2A of the application. Combining with FIG. 2D and FIG. 2C , it can be seen that the fork 84 may further include a steering structure, that is, the turntable 845 in FIG. 2D to change the placement the orientation of the goods on its pallet 841.
  • the robot can control the fork to rotate through the first driving element, control the telescopic arm of the fork to extend and retract through the second driving element, and control the fork to move up and down through the third driving element, wherein the first driving element, Specifically, the second driving element and the third driving element may be an electric motor, a motor (such as a hydraulic motor, etc.), an air cylinder, and the like.
  • the second driving element and the third driving element may be an electric motor, a motor (such as a hydraulic motor, etc.), an air cylinder, and the like.
  • the robot can perform collision detection on the forks, and when detecting the collision of the forks, the collision type of the fork collision can be determined according to whether the telescopic arm is currently in the extended state, and then according to The determined collision type is used to determine the fork collision processing strategy, and finally, the fork collision event is processed according to the determined fork collision processing strategy.
  • the present application can handle the fork collision event according to the type of collision when the fork collides, so as to effectively protect the fork and prevent the fork from being damaged, Reduce equipment maintenance costs.
  • the processing steps of the fork collision processing method in this application may be implemented by a terminal, an electronic device (such as a computer or a server) or the warehouse management device shown in FIG. 1 .
  • the terminal may specifically be a control terminal provided inside the robot for controlling the robot.
  • FIG. 3 is a schematic diagram of a fork collision processing method provided by an embodiment of the present application, and is explained by taking the application of the fork collision processing method to a control terminal of a robot as an example. As shown in FIG. 3 , the method mainly includes the following steps:
  • the control terminal When the control terminal detects that the fork of the robot collides, it can first determine the collision type of the fork based on the current state of the structure contained in the fork.
  • the structure contained in the fork can be, for example, a telescopic arm, etc.
  • the current state of the telescopic arm includes The telescopic arm is in an extended state or in a non-retractable state.
  • the different states of the telescopic arm can be used to push the goods placed on the pallet out of the pallet or pull the goods to the pallet.
  • the control terminal After determining the collision type, the control terminal further determines the corresponding fork collision processing strategy according to the collision type. Specifically, for different collision types, the corresponding fork collision handling strategies are different.
  • the control terminal After determining the fork collision handling strategy, the control terminal processes the fork collision event according to the determined fork collision handling strategy. For different collision types, the corresponding fork collision handling strategies are different. Correspondingly, the fork collision The handling of events is also different.
  • This embodiment provides a fork collision processing method.
  • the collision type of the fork collision is first determined, then a fork collision processing strategy is determined according to the determined collision type, and finally, according to the determined collision type, a fork collision processing strategy is determined.
  • Fork collision handling strategy to handle fork collision events.
  • the present application can handle the fork collision event according to the collision type when the fork collision occurs, so that the fork can be effectively protected, the fork is prevented from being damaged, and the equipment maintenance cost can be reduced.
  • the collision types include telescoping arm extension collisions and telescoping arm non-extending collisions.
  • the collision type is the telescopic arm extension collision; if the telescopic arm is in the non-extended state, the collision type is determined to be the telescopic arm not extending Stretch out collision. Therefore, by determining the type of collision according to the working state of the telescopic arm, it is convenient to determine the fork collision handling strategy, so as to protect the fork.
  • the collision type is a telescopic arm not extending collision
  • determining the fork collision handling strategy according to the collision type includes: determining a first collision handling strategy according to the collision type; or determining a second collision handling strategy according to the collision type.
  • the first collision handling strategy includes: controlling the movement speed of the fork to be zero;
  • the second collision handling strategy includes: controlling the moving speed of the fork to be zero, and controlling the first driving element for driving the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotation state.
  • the control terminal When the control terminal detects that the fork collides, if the telescopic arm is in a non-extended state, it is determined that the collision type is a collision of the telescopic arm not extending. At this time, the control terminal may determine that the fork collision handling strategy is the first collision handling strategy or the second collision handling strategy.
  • the first collision handling strategy includes: controlling the movement speed of the forks to zero, specifically, reducing the movement speed of the forks to zero in a short period of time by means of emergency braking or the like.
  • the movement speed of the fork can specifically include the lifting speed, the telescopic movement speed and the rotation speed of the fork. That is to say, at this time, the control terminal controls the fork to be in a static state, so as to avoid further collision between the fork and the obstacle.
  • the second collision handling strategy is based on the first collision handling strategy, further controlling the first driving element for driving the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotation state.
  • the free rotation state means that if the fork continues to receive external force, the fork can rotate along the fixed rotation axis under the action of the external force to relieve the external force, so that even if the fork continues to receive external force, The external force can also be relieved by free rotation to avoid damage to the fork, and finally the fork and the robot are in a steady state.
  • control terminal may determine whether the fork collision handling strategy is the first collision handling strategy or the second collision handling strategy according to whether the fork is loaded with goods.
  • the control terminal determines that the fork collision handling strategy is the first collision handling strategy, that is, the control terminal controls the fork to be in a static state. On the one hand, it can prevent the fork from continuing to encounter obstacles Further collision, in addition, if the fork continues to be subjected to external force, the fork can still maintain a static state, so as to avoid the situation that the goods fall due to the change of the state of the fork due to the external force, thereby ensuring the safety of the goods.
  • the fork collision handling strategy is the first collision handling strategy, that is, the control terminal controls the fork to be in a static state.
  • the fork is equipped with fragile items such as glass products
  • by controlling the fork to maintain a static state it is possible to avoid the situation that the fragile items are dropped due to external force, so as to ensure the safety of the goods.
  • the control terminal determines that the fork collision handling strategy is the second collision handling strategy, that is, the fork is in a free rotation state at this time. Since the current fork is not loaded with goods, even if the fork rotates under the action of external force, the goods will not fall, thus avoiding property damage.
  • control terminal when goods are loaded in the forks, the control terminal may further determine whether the fork collision handling strategy is the first collision handling strategy or the second collision handling strategy according to the weight of the goods loaded in the forks.
  • a sensor can be set on the pallet of the robot to obtain the weight data of the goods loaded by the fork, and the sensor can send the measured weight data to the control terminal.
  • the control terminal After obtaining the weight data of the goods, the control terminal compares the weight data of the goods with the preset weight. If the weight data of the goods exceeds the preset weight, it means that the goods are heavy, even if the fork rotates under the action of external force, the The cargo is not easy to fall, therefore, the control terminal can determine the collision handling strategy as the second collision handling strategy, that is, the fork can be in a free rotation state.
  • the control terminal can determine that the collision handling strategy is the first collision handling. strategy, that is, to control the fork to be stationary.
  • the control terminal determines the first collision handling strategy or the second collision handling strategy according to the type of collision. Specifically, it may determine which collision handling strategy is adopted according to whether the fork is currently loaded with goods, so as to avoid the collision of the goods.
  • the fork can cause damage and also prevent the cargo from falling, thus keeping the cargo safe and avoiding property damage.
  • the collision type is a telescopic arm extension collision
  • determining a fork collision handling strategy according to the collision type includes: determining a third collision handling strategy according to the collision type; or, determining a fourth collision handling strategy according to the collision type; or , the fifth collision handling strategy is determined according to the collision type; or, the sixth collision handling strategy is determined according to the collision type.
  • the third collision processing strategy includes: controlling the telescopic speed of the telescopic arm to be zero.
  • the fourth collision handling strategy includes: controlling the telescopic speed of the telescopic arm to be zero, and controlling the first driving element for driving the rotation of the fork to stop driving the fork to rotate, so that the fork is in a free rotation state.
  • the fifth collision handling strategy includes: controlling the telescoping speed of the telescopic arm to be zero, and controlling the second driving element for driving the telescopic arm to telescopically stop driving the telescopic arm to telescopically, so that the telescopic arm is in a free telescopic state.
  • the sixth collision handling strategy includes: controlling the telescopic speed of the telescopic arm to be zero, controlling the first driving element for driving the rotation of the fork to stop driving the fork to rotate, so that the fork is in a free rotation state, and controlling the first driving element for driving the telescopic arm to rotate
  • the telescopic second driving element stops driving the telescopic arm to telescopic, so that the telescopic arm is in a free telescopic state.
  • the control terminal may determine that the fork collision handling strategy is the third collision handling strategy, or the fourth collision handling strategy, or the fifth collision handling strategy, or the sixth collision handling strategy.
  • the third collision processing strategy includes: controlling the telescoping speed of the telescopic arm to be zero. Since the function of the telescopic arm is to push the goods placed on the pallet out of the pallet or pull the goods to the pallet, the fork will not move in the telescopic direction when the telescopic speed of the telescopic arm is zero. , so as to prevent the fork from continuing to collide with the obstacle further.
  • the fourth collision handling strategy is based on the third collision handling strategy, further controlling the first driving element for driving the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotation state.
  • the free rotation state means that if the fork continues to receive external force, the fork can rotate along the fixed rotation axis under the action of the external force to relieve the external force, so that even if the fork continues to receive external force, The external force can also be relieved by free rotation to avoid damage to the fork, and finally the fork and the robot are in a steady state.
  • the fifth collision handling strategy is based on the third collision handling strategy, further controlling the second driving element for driving the telescopic arm to extend and retract to stop driving the telescopic arm to extend and retract, so that the telescopic arm is in a free telescopic state.
  • the free telescopic state means that if the fork continues to be subjected to external force, the telescopic arm in the fork can telescopically move along the telescopic direction under the action of the external force, so as to relieve the external force, so that even if the fork continues to receive The external force can also be relieved by moving in the telescopic direction, so as to avoid damage to the fork, and finally make the fork and the robot in a steady state.
  • the sixth collision handling strategy is based on the third collision handling strategy, further controlling the telescopic speed of the telescopic arm to be zero, and controlling the first driving element for driving the rotation of the fork to stop driving the rotation of the fork, so that the fork is in a free state. rotating state, and controlling the second driving element for driving the telescopic arm to extend and retract to stop driving the telescopic arm to extend and retract, so that the telescopic arm is in a free telescopic state. Therefore, even if the fork continues to be subjected to external force, the external force can be relieved by free rotation and movement in the telescopic direction, so as to avoid damage to the fork, and finally make the fork and the robot in a steady state.
  • control terminal may determine that the fork collision handling strategy is the third collision handling strategy, or the fourth collision handling strategy, or the fifth collision handling strategy, or the Six collision handling strategies.
  • the control terminal determines that the fork collision handling strategy is the third collision handling strategy, that is, the telescopic speed of the telescopic arm of the control terminal is zero. Further collision occurs.
  • the fork collision handling strategy is the third collision handling strategy, that is, the telescopic speed of the telescopic arm of the control terminal is zero. Further collision occurs.
  • the fork continues to receive external force, when the telescopic speed of the telescopic arm is zero, the fork will not move in the telescopic direction, so as to avoid the movement of the fork due to the external force. The situation of the goods falling, so as to ensure the safety of the goods.
  • the fork is equipped with fragile items such as glass products
  • the telescopic speed of the telescopic arm by controlling the telescopic speed of the telescopic arm to be zero, it can avoid the situation that the goods fall due to the movement of the fork due to external force, so as to ensure the safety of the goods.
  • the control terminal determines that the fork collision handling strategy is the fourth collision handling strategy, the fifth collision handling strategy, or the sixth collision handling strategy, that is, the forks are in the The free rotation state, or the telescopic arm is in the free telescopic state, or the telescopic arm is in the free telescopic state while the fork is in the free rotation state. Since the current fork is not loaded with cargo, even if the fork rotates under the action of external force and/or moves in the telescopic direction of the telescopic arm, the cargo will not fall, thus avoiding property damage.
  • control terminal may determine the fork collision handling strategy according to the direction of the external force on the fork when the collision occurs.
  • multiple pressure sensors can be arranged in all directions of the fork.
  • the control terminal can determine the direction of the external force on the fork according to the pressure data of the multiple pressure sensors, and then determine the direction of the external force according to the direction of the external force. Fork collision handling strategy.
  • the control terminal can determine that the fork collision handling strategy is the fourth collision handling strategy, that is, the fork is in a free rotation state at this time, so , the fork can rotate freely under the action of external force to relieve the external force.
  • the control terminal can determine that the fork collision handling strategy is the fifth collision handling strategy, that is, the telescopic arm is in a free telescopic state at this time. Therefore, the telescopic arm can freely expand and contract under the action of the external force to relieve the external force.
  • the control terminal may determine that the fork collision handling strategy is the sixth collision handling strategy, that is, the fork is in the The free rotation state and the telescopic arm are in the free telescopic state, so that the fork can freely rotate under the action of the external force and the telescopic arm can freely expand and contract under the action of the external force, so as to relieve the external force.
  • the fork collision handling strategy is the sixth collision handling strategy, that is, the fork is in the The free rotation state and the telescopic arm are in the free telescopic state, so that the fork can freely rotate under the action of the external force and the telescopic arm can freely expand and contract under the action of the external force, so as to relieve the external force.
  • the direction of the external force is the same as the rotation direction of the fork, specifically, the two directions may be exactly the same, or the angle between the two directions is lower than a preset angle.
  • the direction of the external force is the same as the telescopic movement direction of the telescopic arm.
  • control terminal determines the third collision handling strategy or the fourth collision handling strategy or the fifth collision handling strategy or the sixth collision handling strategy according to the type of collision, and specifically may determine which method to use according to whether the fork is currently loaded with goods.
  • This kind of collision handling strategy can not only avoid damage to the fork, but also prevent the goods from falling, so as to ensure the safety of the goods.
  • the collision of the forks of the robot is determined in at least one of the following manners: the increase of the operating current of the driving element reaches a first preset threshold, and the duration of reaching the first preset threshold reaches the first preset threshold. set time length; or, the decreasing range of the moving speed of the fork reaches the second preset threshold; or, the increasing range of the operating current of the driving element reaches the third preset threshold, and the duration of reaching the third preset threshold reaches The second preset duration, and the reduction range of the moving speed of the fork reaches a fourth preset threshold; or, the variation range of the pressure detected by the pressure sensor disposed on the fork reaches a fifth preset threshold.
  • the driving element includes at least one of a first driving element for driving the fork to rotate, a second driving element for driving the telescopic arm to extend and retract, and a third driving element for driving the fork to lift.
  • the movement type of the fork may include rotation, telescopic movement of the telescopic arm, and lifting.
  • the control terminal controls the movement state of the fork, it can control the fork to rotate by controlling the first driving element, or control the second
  • the drive element is used to control the telescopic arm of the fork to move telescopically, and the third drive element can also be controlled to control the fork to move up and down.
  • the control terminal controls the fork to perform normal rotation, normal telescopic movement or normal lifting, and the working current of each driving element is the normal working value, and if the fork collides with the obstacle, the fork will rotate normally, stretch normally. In the process of moving or normal lifting, it is affected by external force (from obstacles). At this time, in order to overcome the external force, the driving element needs a larger working current, that is, the working current will have a certain increase. When the increase amount reaches the first preset threshold, and the duration of reaching the first preset threshold reaches the first preset duration, it can be determined that the forks collide. Therefore, by detecting the change of the working current of the driving element, it can be determined whether the fork of the robot collides. In addition, by setting the condition of the duration, it is possible to avoid the situation that the control terminal mistakenly believes that the sending fork collides due to unexpected events such as a sudden change of current, thereby improving the accuracy of the detection result of the fork collision.
  • the movement speed of the fork is the normal speed value, and if the fork collides with the obstacle, the fork will rotate normally, expand and contract normally. In the process of moving or normal lifting, it is affected by external force (from obstacles). At this time, the movement speed of the fork will be reduced. Therefore, when the reduction range of the movement speed of the fork reaches the second preset threshold, it can be determined that The fork collided. Therefore, by detecting changes in the movement speed of the forks, it can be determined whether the forks of the robot collide.
  • the change of the working current of the driving element and the change of the moving speed of the fork can be used to detect whether the fork collides. Specifically, when the increase of the working current of the driving element reaches the third preset threshold, And when the duration of reaching the third preset threshold reaches the second preset duration, and when the reduction range of the movement speed of the forks reaches the fourth preset threshold, it can be determined that the forks collide.
  • the third preset threshold may be the same as or different from the first preset threshold; the second preset duration may be the same as or different from the first preset duration; the fourth preset threshold may be the same as the second preset threshold The same or different.
  • a pressure sensor can also be set on the fork.
  • the fork collides with the obstacle, the obstacle will first collide with the pressure set on the fork.
  • the pressure detected by the pressure sensor will change under the action of external force (from obstacles). Therefore, when the change range of the pressure detected by the pressure sensor reaches the fifth preset threshold, it can be determined that the fork has occurred. collision. Therefore, by detecting the change of the pressure detected by the pressure sensor provided on the fork, it can be determined whether the fork of the robot collides.
  • control terminal can perform collision detection according to the change of the working current of the driving element, the change of the moving speed of the fork, and the change of the pressure detected by the pressure sensor, so as to accurately detect whether the fork collides , in order to facilitate fork collision treatment to protect the fork.
  • the method further includes: after detecting that the fork of the robot collides, recognizing the collided obstacle, and processing the obstacle according to the recognition result.
  • the control terminal can also identify the type of obstacles and other information, and according to the identification results of the obstacles The obstacle is processed, so that the collision between the obstacle and other robots can be avoided, and the safety of the robot or the obstacle can be ensured.
  • control terminal can call the camera set on the robot to capture the image of the obstacle, and then use the target recognition technology to identify the obstacle, so as to obtain the obstacle recognition result. It can be understood that the control terminal can also identify obstacles in other ways, such as electronic label identification of goods through radio frequency identification technology (Radio Frequency Identification, RFID), etc., which is not specifically limited here.
  • RFID Radio Frequency Identification
  • processing the obstacle according to the identification result includes: when the obstacle is a cargo, determining the cargo type of the obstacle according to the identification result; moving the obstacle to a corresponding cargo storage according to the cargo type of the obstacle Location.
  • the control terminal determines that the obstacle is a cargo, it further determines the cargo type of the obstacle according to the identification result, and determines the cargo storage location corresponding to the cargo, so that the control terminal controls the robot to store the cargo.
  • the cargo is transported to the corresponding cargo storage location, and the reasonableness of the cargo storage can also be ensured while the obstacles are dealt with.
  • the method further includes: when it is detected that the fork is about to collide, executing a fork collision avoidance strategy.
  • control terminal can also detect whether the forks will collide during the operation of the robot, and when detecting that the forks are about to collide, execute the fork collision avoidance strategy, so as to avoid the collision of the forks. , to protect the fork in advance.
  • the robot is equipped with sensors for distance measurement, such as photoelectric sensors, ranging sensors or ultrasonic radar sensors, etc.
  • the control terminal can obtain the distance between the fork and the obstacle through the sensor for distance measurement. Then, combined with the current motion state of the fork, the control terminal can obtain the motion path of the fork, and finally, based on the distance between the fork and the obstacle and the motion path of the fork, determine whether the obstacle is on the motion path of the fork.
  • control terminal determines that the obstacle is on the movement path of the fork, it means that the fork will collide with the obstacle when it moves according to the current movement path. In this case, the control terminal can execute the collision avoidance strategy of the fork.
  • control terminal determines that the obstacle is not on the moving path of the fork, it means that the fork will not collide with the obstacle when moving according to the current moving path. In this case, the control terminal does not need to execute the fork collision avoidance strategy.
  • the current motion state of the fork may be rotation, telescopic movement, or lifting, etc.
  • the path of the fork may be a rotation path, a telescopic movement path, or a lifting path of the fork.
  • FIG. 4 is an example diagram of the positional relationship between the fork and the obstacle in the embodiment of the application.
  • the robot 10 is provided with a fork 11 (for ease of understanding, other structures are not shown), the fork 11 can be raised and lowered within the height range of A-B in the figure, and can be telescopically moved within the length range of C-D in the figure under the control of the control terminal.
  • the figure includes four obstacles, 20a, 20b, 20c, and 20d, respectively.
  • control terminal can control the fork 11 to move upward (ie rise) to the position where the fork 11a is located along the direction of B ⁇ A through the third driving element, and the position where the fork 11a is located is the highest position where the fork 11 rises .
  • the movement path of the fork 11 is from the current position of the fork 11 to the position of the fork 11a.
  • the control terminal is based on the distance between the fork 11 and the obstacle 20a. , and the current motion state of the fork, it is determined that the obstacle 20a is on the movement path of the fork 11, therefore, the control terminal can confirm that the fork 11 is about to collide with the obstacle 20a.
  • the control terminal determines that the obstacle 20b is not on the movement path of the fork 11 based on the distance between the fork 11 and the obstacle 20b and the current motion state of the fork. Therefore, the control terminal can confirm that the fork 11 does not collide with obstacle 20b.
  • control terminal can also control the fork 11 to move downward (ie, descend) in the direction A ⁇ B through the third driving element to the position where the fork 11b is located, and the position where the fork 11b is located is the lowest point where the fork 11 descends. Location.
  • control terminal can control the telescopic arm of the fork 11 to telescopically move in the direction C ⁇ D through the second driving element, so that the fork 11 moves to the position where the fork 11d is located, and the position where the fork 11d is located is the fork 11 The farthest position of telescopic movement.
  • the control terminal determines that the obstacle 20c is on the movement path of the fork 11 based on the distance between the fork 11 and the obstacle 20c and the current motion state of the fork. Therefore, the control terminal can confirm that the obstacle 20c is on the movement path of the fork 11.
  • the fork 11 is about to collide with the obstacle 20c.
  • the control terminal determines that the obstacle 20d is not on the movement path of the fork 11 based on the distance between the fork 11 and the obstacle 20d and the current motion state of the fork. Therefore, the control terminal can confirm that the fork 11 does not collide with obstacle 20d.
  • control terminal determines that the obstacle is on the movement path of the fork based on the distance between the fork and the obstacle and the current motion state of the fork, it can be determined that the fork of the robot is about to collide, so that the cargo fork is about to collide.
  • Fork collision avoidance strategy to avoid the collision between the fork and the obstacle, and play the role of protecting the fork in advance.
  • executing the fork collision avoidance strategy includes: adjusting the position of the fork according to the position of the obstacle, so that the fork does not collide with the obstacle.
  • control terminal when the control terminal determines that the obstacle is located on the moving path of the fork, it can adjust the position of the fork according to the position of the obstacle, so as to avoid the collision between the fork and the obstacle during the movement, so as to protect the fork in advance. fork.
  • adjusting the position of the fork according to the position of the obstacle, so that the fork does not collide with the obstacle includes: when the obstacle is located on the moving path of the fork, performing the operation on the moving path of the fork. Adjust so that the obstacle is not on the moving path of the fork; or, when the obstacle is on the moving path of the fork, control the fork to move to the preset position along the moving path, and output the obstacle prompt information, wherein the preset Set the position as the preset distance from the obstacle on the motion path.
  • control terminal determines that the obstacle is on the moving path of the fork, it can adjust the moving path of the fork so that the obstacle is not on the moving path of the fork, so that the fork will not be in the movement process with the obstacle.
  • the control terminal can avoid obstacles and realize automatic obstacle avoidance.
  • control terminal adjusts the movement path of the fork
  • it may include the position adjustment of the robot, that is, control the mobile chassis of the robot to move. Since the fork is set on the robot, when the position of the robot changes, the movement path of the fork will also change, thus playing the role of obstacle avoidance.
  • Fig. 5a is a schematic diagram of the control terminal controlling the forks to avoid obstacles.
  • the movement path of the forks 11 controlled by the control terminal is A-B-C, where A-B is the control fork 11
  • A-B is the control fork 11
  • B-C are the motion paths for controlling the telescopic arm of the fork 11 to extend and retract (specifically, extend).
  • the control terminal determines that the obstacle 20 will collide with the fork 11 .
  • the control terminal can control the position of the robot 10 to move, for example, the robot after the position movement is the robot 10' in the figure, and correspondingly, the fork after the position movement is the fork 11' in the figure, so that the fork 11' can move according to the movement path A'-B'-C' in the figure, so as to perform the pickup process, and can smoothly avoid the obstacle 20.
  • control terminal when the control terminal determines that the obstacle is located on the moving path of the fork, it can also control the fork to move along the moving path to a preset position with a preset distance from the obstacle, and output obstacle prompt information to remind relevant personnel to obstacles to deal with. After the obstacle is dealt with, the control terminal can control the fork to continue to move according to the original movement path.
  • Fig. 5b is another schematic diagram of the control terminal controlling the forks to avoid obstacles.
  • the control terminal controls the forks 11 to move in a path A-B-C, where A-B is the control terminal
  • A-B is the control terminal
  • B-C is the movement path for controlling the telescopic arm of the fork 11 to extend and retract (specifically, to extend).
  • the control terminal determines that the obstacle 20 will collide with the fork 11 .
  • the control terminal can control the fork 11 to first move to the position of point D at a preset distance from the obstacle in the figure, and output the obstacle prompt information. Then, after the obstacle is dealt with, control the fork 11 to move from point D to point C. Alternatively, after the fork 11 moves to the position of point D which is a preset distance from the obstacle in the figure, the robot will carry the obstacle 20 into its own storage unit, and then control the fork 11 to move to point C, so as to avoid the collision between the fork and the obstacle, so as to protect the fork.
  • a fork impact handling device is provided.
  • FIG. 6 is a schematic diagram of a fork collision processing device provided by an embodiment of the application. As shown in FIG. 6 , the device includes:
  • the type determination module 100 is used to determine the collision type when it is detected that the fork of the robot collides
  • a strategy determination module 200 configured to determine a fork collision handling strategy according to the collision type
  • the collision processing module 300 is used for processing the fork collision according to the fork collision processing strategy.
  • Each module in the above-mentioned fork collision processing device can be implemented in whole or in part by software, hardware and combinations thereof.
  • the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • the present application provides a fork collision processing device.
  • the collision type of the fork collision is first determined, then a fork collision processing strategy is determined according to the determined collision type, and finally, according to the determined collision type, a fork collision processing strategy is determined.
  • Fork collision handling strategy to handle fork collision events.
  • the present application can handle the fork collision event according to the collision type when the fork collision occurs, so that the fork can be effectively protected, the fork is prevented from being damaged, and the equipment maintenance cost can be reduced.
  • the collision types include telescoping arm extension collisions and telescoping arm non-extending collisions.
  • the strategy determination module 200 is specifically configured to: when the collision type is a collision with the telescopic arm not extending, determine a first collision handling strategy according to the collision type; or, determine a second collision handling strategy according to the collision type;
  • the first collision handling strategy includes: controlling the movement speed of the fork to be zero;
  • the second collision handling strategy includes: controlling the moving speed of the fork to be zero, and controlling the first driving element for driving the fork to rotate to stop driving the fork to rotate, so that the fork is in a free rotation state.
  • the strategy determination module 200 is specifically configured to: determine a first collision handling strategy according to the type of collision when the fork is loaded with cargo; and determine a second collision handling strategy according to the type of collision when the fork is not loaded with cargo .
  • the strategy determination module 200 is specifically configured to: when the collision type is a telescopic arm extension collision, determine a third collision handling strategy according to the collision type; or, determine a fourth collision handling strategy according to the collision type; or, according to The collision type determines the fifth collision handling strategy; or, the sixth collision handling strategy is determined according to the collision type;
  • the third collision processing strategy includes: controlling the telescopic speed of the telescopic arm to be zero;
  • the fourth collision handling strategy includes: controlling the telescopic speed of the telescopic arm to be zero, and controlling the first driving element for driving the rotation of the fork to stop driving the fork to rotate, so that the fork is in a free rotation state;
  • the fifth collision handling strategy includes: controlling the telescopic boom to be zero, and controlling the second driving element for driving the telescopic boom to extend and retract to stop driving the telescopic boom to extend and retract, so that the telescopic boom is in a free telescopic state;
  • the sixth collision handling strategy includes: controlling the telescopic speed of the telescopic arm to be zero, controlling the first driving element for driving the rotation of the fork to stop driving the fork to rotate, so that the fork is in a free rotation state, and controlling the first driving element for driving the telescopic arm to rotate
  • the telescopic second driving element stops driving the telescopic arm to telescopic, so that the telescopic arm is in a free telescopic state.
  • the strategy determination module 200 is specifically configured to: determine a third collision handling strategy according to the type of collision when the fork is loaded with cargo; and determine a fourth collision handling strategy according to the type of collision when the fork is not loaded with cargo , or, determine the fifth collision handling strategy, or, determine the sixth collision handling strategy.
  • the collision of the forks of the robot is determined in at least one of the following ways:
  • the increase of the operating current of the driving element reaches the first preset threshold, and the duration of reaching the first preset threshold reaches the first preset duration; or,
  • the magnitude of the reduction in the movement speed of the fork reaches the second preset threshold
  • the increasing magnitude of the operating current of the driving element reaches the third preset threshold, and the duration of reaching the third preset threshold reaches the second preset duration, and the decreasing magnitude of the movement speed of the fork reaches the fourth preset threshold ;or,
  • the variation range of the pressure detected by the pressure sensor disposed on the fork reaches the fifth preset threshold
  • the driving element includes at least one of a first driving element for driving the fork to rotate, a second driving element for driving the telescopic arm to extend and retract, and a third driving element for driving the fork to lift.
  • the fork collision processing device further includes: an obstacle processing module, configured to identify the collided obstacle after detecting that the fork of the robot collides, and process the obstacle according to the identification result.
  • the obstacle handling module is specifically configured to: when the obstacle is a cargo, determine the cargo type of the obstacle according to the identification result; move the obstacle to a corresponding cargo storage location according to the cargo type of the obstacle.
  • the fork collision processing device further includes: a collision avoidance module, configured to execute a fork collision avoidance strategy when it is detected that the fork is about to collide.
  • the imminent collision of the robot's forks is determined as follows:
  • the collision avoidance module is specifically configured to: adjust the position of the fork according to the position of the obstacle, so that the fork does not collide with the obstacle.
  • the collision avoidance module is specifically configured to: when the obstacle is located on the moving path of the fork, adjust the moving path of the fork, so that the obstacle is not on the moving path of the fork; or, when the obstacle is on the moving path of the fork
  • the fork is controlled to move to a preset position along the motion path, and the obstacle prompt information is output, wherein the preset position is the position on the motion path with a preset distance from the obstacle.
  • a robot comprising: a fork, and the above-mentioned fork collision handling device.
  • FIG. 7 is a schematic diagram of the computer device provided by the embodiment of the application.
  • the computer device includes: a memory 71 , a processor 72 , and a A computer program that can be executed on the processor 72, and when the processor 72 executes the program, the fork collision processing method as described above is implemented.
  • the memory and the processor are directly or indirectly electrically connected to realize data transmission or interaction.
  • these elements can be electrically connected to each other through one or more communication buses or signal lines, such as can be connected through a bus.
  • the memory stores computer-executed instructions for implementing the data access control method, including at least one software function module that can be stored in the memory in the form of software or firmware, and the processor executes various software programs and modules by running the software programs and modules stored in the memory. Functional application and data processing.
  • the memory can be, but is not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), erasable only memory Read memory (Erasable Programmable Read-Only Memory, EPROM), Electrical Erasable Programmable Read-Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
  • RAM Random Access Memory
  • ROM read only memory
  • PROM programmable read only memory
  • PROM Programmable Read-Only Memory
  • EPROM Erasable Programmable Read-Only Memory
  • Electrical Erasable Programmable Read-Only Memory Electrical Erasable Programmable Read-Only Memory
  • the software programs and modules in the above-mentioned memory may also include an operating system, which may include various software components and/or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may Intercommunicate with various hardware or software components to provide the operating environment for other software components.
  • an operating system which may include various software components and/or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may Intercommunicate with various hardware or software components to provide the operating environment for other software components.
  • the processor may be an integrated circuit chip with signal processing capability.
  • the above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), and the like.
  • CPU Central Processing Unit
  • NP Network Processor
  • the methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • a computer-readable storage medium is provided, and computer-executable instructions are stored in the computer-readable storage medium, and when the computer-executable instructions are executed by a processor, are used to implement the above-mentioned fork collision processing method.
  • a computer program product including a computer program that, when executed by a processor, implements the fork collision processing method as described above.
  • Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory.
  • Volatile memory may include random access memory (RAM) or external cache memory.
  • RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.
  • SRAM static RAM
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDRSDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • SLDRAM synchronous chain Road (Synchlink) DRAM
  • Rambus direct RAM
  • DRAM direct memory bus dynamic RAM
  • RDRAM memory bus dynamic RAM

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Abstract

一种货叉(11, 84)碰撞处理方法、装置、机器人(10, 80, 110)、设备、介质及产品，货叉(11, 84)碰撞处理方法包括：当检测到机器人(10, 80, 110)的货叉(11, 84)发生碰撞时，确定碰撞类型（S100）；根据碰撞类型确定货叉(11, 84)碰撞处理策略（S200）；根据货叉(11, 84)碰撞处理策略处理货叉(11, 84)碰撞（S300）。在检测到货叉(11, 84)发生碰撞时，首先确定货叉(11, 84)发生碰撞的碰撞类型，然后根据确定的碰撞类型来确定货叉(11, 84)碰撞处理策略，最后，根据确定的货叉(11, 84)碰撞处理策略来对货叉(11, 84)碰撞事件进行处理。相比于机器人(10, 80, 110)继续控制货叉(11, 84)执行动作的做法，在发生货叉(11, 84)碰撞时根据碰撞类型来处理货叉(11, 84)碰撞事件，可以有效保护货叉(11, 84)，防止货叉(11, 84)发生损坏，降低设备维护成本。

Description

货叉碰撞处理方法、装置、机器人、设备、介质及产品
本申请要求于2020年12月31日提交中国专利局、申请号为202011637451.8、申请名称为“货叉碰撞处理方法、装置、机器人、设备、介质及产品”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
本申请涉及智能仓储技术领域，尤其涉及一种货叉碰撞处理方法、装置、机器人、设备、介质及产品。
背景技术
随着智能仓储技术的发展，仓库通常采用机器人来进行货物的搬运、存放等处理，相比于人工的处理方式，机器人进行货物处理的效率更高。
现有技术中，用于进行货物搬运等处理的机器人通常设置有用于进行取货的货叉，机器人可以控制货叉执行伸缩、旋转等动作，从而使得货叉可以取出不同方位的货物，或者，将货物放置在货架的不同位置。
然而，在机器人周围存在障碍物时，容易出现货叉与障碍物碰撞的情况，此时，若机器人继续控制货叉执行动作，容易造成货叉损坏，从而导致设备维护成本增加。
发明内容
本申请提供一种货叉碰撞处理方法、装置、机器人、设备、介质及产品，可以有效保护货叉，防止货叉发生损坏，降低设备维护成本。
第一方面，本申请提供一种货叉碰撞处理方法，包括：
当检测到机器人的货叉发生碰撞时，确定碰撞类型；
根据碰撞类型确定货叉碰撞处理策略；
根据所述货叉碰撞处理策略处理货叉碰撞。
在一些实施例中，所述碰撞类型包括伸缩臂伸出碰撞和伸缩臂未伸出碰撞。
在一些实施例中，所述碰撞类型为伸缩臂未伸出碰撞，所述根据碰撞类 型确定货叉碰撞处理策略，包括：
根据所述碰撞类型确定第一碰撞处理策略；或，
根据所述碰撞类型确定第二碰撞处理策略；
其中，所述第一碰撞处理策略包括：控制货叉的运动速度为零；
所述第二碰撞处理策略包括：控制货叉的运动速度为零，以及控制用于驱动所述货叉旋转的第一驱动元件停止驱动所述货叉旋转，以使得所述货叉处于自由旋转状态。
在一些实施例中，在所述货叉装有货物时，根据所述碰撞类型确定所述第一碰撞处理策略；
在所述货叉未装有货物时，根据所述碰撞类型确定所述第二碰撞处理策略。
在一些实施例中，所述碰撞类型为伸缩臂伸出碰撞，所述根据碰撞类型确定货叉碰撞处理策略，包括：
根据所述碰撞类型确定第三碰撞处理策略；或，
根据所述碰撞类型确定第四碰撞处理策略；或，
根据所述碰撞类型确定第五碰撞处理策略；或，
根据所述碰撞类型确定第六碰撞处理策略；
其中，所述第三碰撞处理策略包括：控制伸缩臂的伸缩速度为零；
所述第四碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用于驱动所述货叉旋转的第一驱动元件停止驱动所述货叉旋转，以使得所述货叉处于自由旋转状态；
所述第五碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用于驱动所述伸缩臂伸缩的第二驱动元件停止驱动所述伸缩臂伸缩，以使得所述伸缩臂处于自由伸缩状态；
所述第六碰撞处理策略包括：控制伸缩臂的伸缩速度为零，控制用于驱动所述货叉旋转的第一驱动元件停止驱动所述货叉旋转，以使得所述货叉处于自由旋转状态，以及控制用于驱动所述伸缩臂伸缩的第二驱动元件停止驱动所述伸缩臂伸缩，以使得所述伸缩臂处于自由伸缩状态。
在一些实施例中，在所述货叉装有货物时，根据所述碰撞类型确定所述第三碰撞处理策略；
在所述货叉未装有货物时，根据所述碰撞类型确定所述第四碰撞处理策略，或，确定所述第五碰撞处理策略，或，确定所述第六碰撞处理策略。
在一些实施例中，按照如下至少一种方式确定机器人的货叉发生碰撞：
驱动元件的工作电流的增大幅度达到第一预设阈值，且达到所述第一预设阈值的持续时间达到第一预设时长；或，
所述货叉的运动速度的减小幅度达到第二预设阈值；或，
所述驱动元件的工作电流的增大幅度达到第三预设阈值，且达到所述第三预设阈值的持续时间达到第二预设时长，以及，所述货叉的运动速度的减小幅度达到第四预设阈值；或，
设置于所述货叉的压力传感器检测到的压力的变化幅度达到第五预设阈值；
其中，所述驱动元件包括用于驱动所述货叉旋转的第一驱动元件、用于驱动伸缩臂伸缩的第二驱动元件以及用于驱动所述货叉升降的第三驱动元件中的至少一种。
在一些实施例中，还包括：
在检测到机器人的货叉发生碰撞后，对碰撞的障碍物进行识别，并根据识别结果对所述障碍物进行处理。
在一些实施例中，所述根据识别结果对所述障碍物进行处理，包括：
在所述障碍物为货物时，根据所述识别结果确定所述障碍物的货物类型；
根据所述障碍物的货物类型，将所述障碍物搬运至对应的货物存放位置。
在一些实施例中，还包括：
在检测到所述货叉即将发生碰撞时，执行货叉碰撞避让策略。
在一些实施例中，按照如下方式确定机器人的货叉即将发生碰撞：
基于所述货叉与障碍物之间的距离，以及所述货叉的当前运动状态，确定所述障碍物在所述货叉的运动路径上。
在一些实施例中，所述执行货叉碰撞避让策略，包括：
根据障碍物的位置，调整所述货叉的位置，以使得所述货叉不与所述障碍物发生碰撞。
在一些实施例中，所述根据障碍物的位置，调整所述货叉的位置，以使得所述货叉不与所述障碍物发生碰撞，包括：
在所述障碍物位于所述货叉的运动路径上时，对所述货叉的运动路径进行调整，以使得所述障碍物不在所述货叉的运动路径上；或者，
在所述障碍物位于所述货叉的运动路径上时，控制所述货叉沿所述运动路径运动至预设位置，并输出障碍物提示信息，其中，所述预设位置为所述运动路径上距离所述障碍物预设距离的位置。
第二方面，本申请提供一种货叉碰撞处理装置，包括：
类型确定模块，用于当检测到机器人的货叉发生碰撞时，确定碰撞类型；
策略确定模块，用于根据碰撞类型确定货叉碰撞处理策略；
碰撞处理模块，用于根据所述货叉碰撞处理策略处理货叉碰撞。
第三方面，本申请提供一种机器人，包括：货叉，以及上述的货叉碰撞处理装置。
第四方面，本申请提供一种计算机设备，包括：存储器，处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现上述的货叉碰撞处理方法。
第五方面，本申请提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现上述的货叉碰撞处理方法。
第六方面，本申请提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现上述的货叉碰撞处理方法。
本申请提供的货叉碰撞处理方法、装置、机器人、设备、介质及产品，方法包括：当检测到机器人的货叉发生碰撞时，确定碰撞类型；根据碰撞类型确定货叉碰撞处理策略；根据货叉碰撞处理策略处理货叉碰撞。本申请中，在检测到货叉发生碰撞时，首先确定货叉发生碰撞的碰撞类型，然后根据确定的碰撞类型来确定货叉碰撞处理策略，最后，根据确定的货叉碰撞处理策略来对货叉碰撞事件进行处理。相比于机器人继续控制货叉执行动作的做法，本申请在发生货叉碰撞时可以根据碰撞类型来处理货叉碰撞事件，从而可以有效保护货叉，防止货叉发生损坏，降低设备维护成本。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1为本申请实施例提供的货叉碰撞处理方法的一种应用场景图；
图2A为本申请一个实施例提供的机器人的结构示意图；
图2B为本申请图2A所示实施例中的一种货叉的结构示意图；
图2C为本申请图2A所示实施例中的一种货叉的结构示意图；
图2D为本申请图2A所示实施例中另一种货叉的结构示意图；
图3为本申请实施例提供的货叉碰撞处理方法的示意图；
图4为本申请实施例中货叉与障碍物的位置关系的示例图；
图5a为控制终端控制货叉避让障碍物的示意图；
图5b为控制终端控制货叉避让障碍物的另一示意图；
图6为本申请实施例提供的货叉碰撞处理装置的示意图；
图7为本申请实施例提供的计算机设备的示意图。
通过上述附图，已示出本公开明确的实施例，后文中将有更详细的描述。这些附图和文字描述并不是为了通过任何方式限制本公开构思的范围，而是通过参考特定实施例为本领域技术人员说明本公开的概念。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本申请相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本申请的一些方面相一致的装置和方法的例子。
下面对本申请实施例的应用场景进行解释：
图1为本申请实施例提供的货叉碰撞处理方法的一种应用场景图，如图1所示，本申请实施例提供的货叉碰撞处理方法可以运行在机器人上，也可以运行在电子设备上，如计算机、服务器等，还可以由仓库管理设备执行或者由仓储系统中的其他设备执行。智能仓储系统100采用机器人110进行货架120上货物的提取和/或存放，采用仓库管理设备130对机器人110进行路径规划、状态监控和调度等，以使机器人110移动至设定位 置进行货物的提取或存放，仓库管理设备130中还存储有货架120的各个库位的存放信息以及货物的基本信息，以便于进行仓库管理。当仓储系统100存在订单任务时，由机器人110将订单任务对应位于货架120的一个或多个货物121搬运至输送操作台区域140，以完成该订单任务。
图2A为本申请一个实施例提供的机器人的结构示意图，如图2A所示，机器人80包括移动底盘83，存储货架82，货叉84，升降组件81。其中，存储货架82、货叉84以及升降组件81均安装于所述移动底盘83，以及在存储货架82上设置若干存储单元。升降组件81包括第三驱动元件，第三驱动元件可以用于驱动货叉84进行升降移动，使货叉84对准存储货架82上的任意一个存储单元，或者对准货架和/或货物。货叉84能以竖直方向为轴进行旋转而调整朝向，以对准至存储单元，或者对准货架和/或货物。货叉84用于执行货物的装载或卸除，以在货架与存储单元之间进行货物的搬运。
示例性的，存储货架82可以选择性的配置或不配置，在不配置存储货架82时，机器人80在搬运货物期间，货物是存放在货叉84的容置空间内。
上述实施例中的机器人80可以执行本申请任意实施例提供的货叉碰撞处理方法中涉及货叉碰撞处理的步骤，以实现对机器人货叉的保护，避免货叉损坏。
在机器人80执行存放货物任务的过程中，机器人80移动至货物被指定的存放空间的位置，通过调节组件，如旋转机构，配合货叉84，将目标物从机器人本体的存储单元搬运至货架上。
示例性的，图2B为本申请图2A所示实施例中的一种货叉的结构示意图。
示例性的，货叉84通过旋转机构85安装于托架86，旋转机构85上连接有第一驱动元件87，第一驱动元件87用于驱动旋转机构85带动货叉84相对于托架86绕一竖直轴线旋转，以对准存储单元，或者对准货架和/或货物。货叉84用于在存储单元与货架之间搬运货物。若货叉84未对准货架和/或货物，可通过第一驱动元件87驱动旋转机构85带动货叉84相对于托架86旋转，以保证货叉84对准货架和/或货物。
示例性的，图2C为本申请图2A所示实施例中的一种货叉的结构示意图，请配合图2B利于理解。如图2C所示，货叉84包括托板841和伸缩臂组件。托板841用于放置货物，可以为一水平设置的平板。伸缩臂组件用于将托板841所放置的货物推出托板841或者将货物拉至托板841。伸缩臂组件包括伸缩臂843、固定推杆842以及活动推杆844。伸缩臂843包括左伸缩臂与右伸缩臂，伸缩臂843可水平地伸出，伸缩臂843在垂直于伸缩臂843的伸出方向且平行于托板841的方向上，位于托板841的一侧。伸缩臂843由第二驱动元件提供动力，由链轮机构传递动力，根据实际情况，链轮机构可以替换成带轮机构，丝杠机构等传动机构驱动。固定推杆842及活动推杆844皆安装于伸缩臂843，固定推杆842及活动推杆844可随伸缩臂843一并伸出。固定推杆842与托板841位于伸缩臂843的同一侧，在伸缩臂843伸出时，所述固定推杆842用于将货物从托板841上推出。活动推杆844可收入伸缩臂843，当活动推杆844未收入伸缩臂843时，活动推杆844、固定推杆842以及托板841三者皆位于伸缩臂843的同一侧，并且活动推杆844位于固定推杆842沿伸缩臂843的伸出方向上。活动推杆844可直接由电机驱动，根据实际情况，也可通过如齿轮组，连杆机构等传动机构传递动力。当活动推杆844未收入伸缩臂，并且伸缩臂843缩回时，活动推杆844用于将货物拉至托板841。
示例性的，货叉84的固定推杆842，可以设计如同活动推杆844的指杆结构。
示例性的，货叉84可以设计为伸缩臂组件的间距宽度为可调的结构。在存/取货物的时候，可因应着货物尺寸调整伸缩臂组件的间距宽度。
示例性的，该货叉84还可以包括转向结构，如转盘，该转向结构可以用于改变放置于其托板841上的货物的朝向。图2D为本申请图2A所示实施例中另一种货叉的结构示意图，结合图2D和图2C可知，货叉84还可以包括一个转向结构，即图2D中的转盘845，以改变放置于其托板841上的货物的朝向。
现有技术中，机器人可以通过第一驱动元件控制货叉进行旋转，通过第二驱动元件控制货叉的伸缩臂进行伸缩，通过第三驱动元件控制货叉进行升降，其中，第一驱动元件、第二驱动元件以及第三驱动元件具体可以 是电机、马达(例如液压马达等)、气缸等。然而，在上述运动过程中，若机器人周围存在障碍物时，容易出现货叉与障碍物碰撞的情况。在发生碰撞以后，若机器人继续控制货叉执行旋转、伸缩或者升降的动作，则容易造成货叉损坏，从而导致设备维护成本增加。
基于此，本申请的主要构思为：机器人可以对货叉进行碰撞检测，在检测到货叉发生碰撞时，可以根据伸缩臂当前是否处于伸出状态来确定货叉发生碰撞的碰撞类型，然后根据确定的碰撞类型来确定货叉碰撞处理策略，最后，根据确定的货叉碰撞处理策略来对货叉碰撞事件进行处理。相比于机器人继续控制货叉执行旋转、伸缩或者升降的动作的做法，本申请在发生货叉碰撞时可以根据碰撞类型来处理货叉碰撞事件，从而有效保护货叉，防止货叉发生损坏，降低设备维护成本。
下面以具体地实施例对本申请的技术方案以及本申请的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程可能在某些实施例中不再赘述。下面将结合附图，对本申请的实施例进行描述。
可以理解，本申请中货叉碰撞处理方法的处理步骤可以由终端、电子设备(如计算机或者服务器)或者图1所示的仓库管理设备实现。其中，终端具体可以是设置于机器人内部以用于控制机器人的控制终端。
图3为本申请实施例提供的货叉碰撞处理方法的示意图，以货叉碰撞处理方法应用于机器人的控制终端为例进行解释说明，如图3所示，该方法主要包括以下步骤：
S100、当检测到机器人的货叉发生碰撞时，确定碰撞类型；
控制终端在检测到机器人的货叉发生碰撞时，首先可以基于货叉包含的结构的当前状态来确定货叉的碰撞类型，货叉包含的结构例如可以是伸缩臂等，伸缩臂的当前状态包括伸缩臂处于伸出状态或者未伸缩状态。其中，伸缩臂的不同状态可以用于将托板所放置的货物推出托板或者将货物拉至托板。
S200、根据碰撞类型确定货叉碰撞处理策略；
在确定碰撞类型之后，控制终端进一步根据碰撞类型来确定对应的货 叉碰撞处理策略。具体的，针对不同的碰撞类型，其对应的货叉碰撞处理策略不同。
S300、根据货叉碰撞处理策略处理货叉碰撞。
控制终端在确定货叉碰撞处理策略后，根据确定的货叉碰撞处理策略对货叉碰撞事件进行处理，针对不同的碰撞类型，其对应的货叉碰撞处理策略不同，相应的，对货叉碰撞事件的处理也不同。
本实施例提供一种货叉碰撞处理方法，在检测到货叉发生碰撞时，首先确定货叉发生碰撞的碰撞类型，然后根据确定的碰撞类型来确定货叉碰撞处理策略，最后，根据确定的货叉碰撞处理策略来对货叉碰撞事件进行处理。相比于机器人继续控制货叉执行动作的做法，本申请在发生货叉碰撞时可以根据碰撞类型来处理货叉碰撞事件，从而可以有效保护货叉，防止货叉发生损坏，降低设备维护成本。
在一些实施例中，碰撞类型包括伸缩臂伸出碰撞和伸缩臂未伸出碰撞。
具体的，在控制终端检测到货叉发生碰撞时，若伸缩臂处于伸出状态，则确定碰撞类型为伸缩臂伸出碰撞；若伸缩臂处于未伸出状态，则确定碰撞类型为伸缩臂未伸出碰撞。从而，通过根据伸缩臂的工作状态来确定碰撞类型，可以便于确定货叉碰撞处理策略，以起到保护货叉的目的。
在一些实施例中，碰撞类型为伸缩臂未伸出碰撞，根据碰撞类型确定货叉碰撞处理策略，包括：根据碰撞类型确定第一碰撞处理策略；或，根据碰撞类型确定第二碰撞处理策略。
其中，第一碰撞处理策略包括：控制货叉的运动速度为零；
第二碰撞处理策略包括：控制货叉的运动速度为零，以及控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态。
在控制终端检测到货叉发生碰撞时，若伸缩臂处于未伸出状态，则确定碰撞类型为伸缩臂未伸出碰撞。此时，控制终端可以确定货叉碰撞处理策略为第一碰撞处理策略或者第二碰撞处理策略。
具体的，第一碰撞处理策略包括：控制货叉的运动速度为零，具体是指通过紧急制动等方式使得货叉的运动速度在短时间内降为零。货叉的运动速度具体可以包括货叉的升降速度、伸缩移动速度以及旋转速度，货叉 的运动速度为零即货叉的升降速度为零、伸缩移动速度为零以及旋转速度为零，也就是说，此时控制终端控制货叉处于静止状态，从而避免货叉继续与障碍物发生进一步的碰撞。
第二碰撞处理策略是在第一碰撞处理策略的基础上，进一步控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态。其中，自由旋转状态是指若货叉继续受到外力，则货叉可以在外力的作用下，沿着固定的旋转轴进行旋转，以起到缓解外力的作用，从而，即使货叉继续受到外力，也可以通过进行自由旋转来对外力进行缓解，以避免对货叉造成损坏，最终使货叉以及机器人处于稳态。
在一些实施例中，控制终端可以根据货叉中是否装有货物来确定货叉碰撞处理策略为第一碰撞处理策略还是第二碰撞处理策略。
具体的，在确定货叉当前装有货物时，控制终端确定货叉碰撞处理策略为第一碰撞处理策略，即控制终端控制货叉处于静止状态，一方面，可以避免货叉继续与障碍物发生进一步的碰撞，另外，若货叉继续受到外力，货叉仍维持可以维持静止状态，从而可以避免出现由于外力使得货叉的状态发生变化从而导致货物掉落的情况，进而保证货物安全。
例如，若货叉内装有玻璃制品等易碎品，通过控制货叉维持静止状态，可以避免出现由于外力导致易碎品掉落的情况，以保证货物安全。
另外，在确定货叉当前未装有货物时，控制终端确定货叉碰撞处理策略为第二碰撞处理策略，即此时货叉处于自由旋转状态。由于当前货叉未装有货物，即使货叉在外力作用下发生旋转，也不会出现货物掉落的情况，从而避免财产损失。
在一些实施例中，在货叉中装有货物时，控制终端还可以根据货叉中所装货物的重量来确定货叉碰撞处理策略为第一碰撞处理策略还是第二碰撞处理策略。
具体的，可以在机器人的托板上设置传感器以获取货叉所装货物的重量数据，该传感器可以将测量的重量数据发送至控制终端。控制终端在得到货物的重量数据后，将该货物的重量数据与预设重量进行比较，若货物的重量数据超过预设重量，说明货物较重，即使货叉在外力的作用下发生旋转，该货物也不容易掉落，因此，控制终端可以确定碰撞处理策略为第 二碰撞处理策略，即货叉可以处于自由旋转状态。
另外，若货物的重量数据未超过预设重量，说明货物较轻，当货叉在外力的作用下发生旋转时，货物容易发生掉落，因此，控制终端可以确定碰撞处理策略为第一碰撞处理策略，即控制货叉处于静止状态。
本实施例中，控制终端根据碰撞类型确定第一碰撞处理策略或第二碰撞处理策略，具体可以是根据货叉当前是否装有货物来确定采用何种碰撞处理策略，从而，既可以避免对货叉造成损坏，也可以防止货物掉落，从而保证货物安全，避免财产损失。
在一些实施例中，碰撞类型为伸缩臂伸出碰撞，根据碰撞类型确定货叉碰撞处理策略，包括：根据碰撞类型确定第三碰撞处理策略；或，根据碰撞类型确定第四碰撞处理策略；或，根据碰撞类型确定第五碰撞处理策略；或，根据碰撞类型确定第六碰撞处理策略。
其中，第三碰撞处理策略包括：控制伸缩臂的伸缩速度为零。
第四碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态。
第五碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用于驱动伸缩臂伸缩的第二驱动元件停止驱动伸缩臂伸缩，以使得伸缩臂处于自由伸缩状态。
第六碰撞处理策略包括：控制伸缩臂的伸缩速度为零，控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态，以及控制用于驱动伸缩臂伸缩的第二驱动元件停止驱动伸缩臂伸缩，以使得伸缩臂处于自由伸缩状态。
具体的，在控制终端检测到货叉发生碰撞时，若伸缩臂处于伸出状态，则确定碰撞类型为伸缩臂伸出碰撞。此时，控制终端可以确定货叉碰撞处理策略为第三碰撞处理策略、或者为第四碰撞处理策略、或者为第五碰撞处理策略、或者为第六碰撞处理策略。
具体的，第三碰撞处理策略包括：控制伸缩臂的伸缩速度为零。由于伸缩臂的作用是用于将托板所放置的货物推出托板或者将货物拉至托板，因此，在伸缩臂的伸缩速度为零的情况下，货叉在伸缩方向上不会发生移 动，从而避免货叉继续与障碍物发生进一步的碰撞。
第四碰撞处理策略是在第三碰撞处理策略的基础上，进一步控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态。其中，自由旋转状态是指若货叉继续受到外力，则货叉可以在外力的作用下，沿着固定的旋转轴进行旋转，以起到缓解外力的作用，从而，即使货叉继续受到外力，也可以通过进行自由旋转来对外力进行缓解，以避免对货叉造成损坏，最终使货叉以及机器人处于稳态。
第五碰撞处理策略是在第三碰撞处理策略的基础上，进一步控制用于驱动伸缩臂伸缩的第二驱动元件停止驱动伸缩臂伸缩，以使得伸缩臂处于自由伸缩状态。其中，自由伸缩状态是指若货叉继续受到外力，货叉内的伸缩臂可以在外力的作用下，沿着伸缩方向进行伸缩移动，以起到缓解外力的作用，从而，即使货叉继续受到外力，也可以通过在伸缩方向上进行移动来对外力进行缓解，以避免对货叉造成损坏，最终使货叉以及机器人处于稳态。
第六碰撞处理策略是在第三碰撞处理策略的基础上，进一步控制伸缩臂的伸缩速度为零，控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态，以及控制用于驱动伸缩臂伸缩的第二驱动元件停止驱动伸缩臂伸缩，以使得伸缩臂处于自由伸缩状态。从而，即使货叉继续受到外力，也可以通过进行自由旋转，以及，通过在伸缩方向上进行移动来对外力进行缓解，以避免对货叉造成损坏，最终使货叉以及机器人处于稳态。
在一些实施例中，控制终端可以根据货叉中是否装有货物来确定货叉碰撞处理策略为第三碰撞处理策略、或者为第四碰撞处理策略、或者为第五碰撞处理策略、或者为第六碰撞处理策略。
具体的，在确定货叉当前装有货物时，控制终端确定货叉碰撞处理策略为第三碰撞处理策略，即控制终端伸缩臂的伸缩速度为零，一方面，可以避免货叉继续与障碍物发生进一步的碰撞，另外，若货叉继续受到外力，在伸缩臂的伸缩速度为零的情况下，货叉在伸缩方向上不会发生移动，从而可以避免出现由于外力使得货叉发生移动从而导致货物掉落的情况，进而保证货物安全。
例如，若货叉内装有玻璃制品等易碎品，通过控制伸缩臂的伸缩速度为零，可以避免出现由于外力使得货叉发生移动从而导致货物掉落的情况，以保证货物安全。
另外，在确定货叉当前未装有货物时，控制终端确定货叉碰撞处理策略为第四碰撞处理策略、或者为第五碰撞处理策略、或者为第六碰撞处理策略，即此时货叉处于自由旋转状态，或者，伸缩臂处于自由伸缩状态，或者，在货叉处于自由旋转状态的同时，伸缩臂处于自由伸缩状态。由于当前货叉未装有货物，即使货叉在外力作用下发生旋转和/或在伸缩臂的伸缩方向上发生移动，也不会出现货物掉落的情况，从而避免财产损失。
可选的，在确定货叉当前未装有货物时，控制终端可以根据发生碰撞时货叉所受的外力的方向来确定货叉碰撞处理策略。
具体的，可以在货叉的各个方向上布置多个压力传感器，在发生碰撞时，控制终端可以根据多个压力传感器的压力数据来确定货叉所受外力的方向，然后根据外力的方向来确定货叉碰撞处理策略。
其中，当仅存在一个方向的外力、且外力的方向与货叉的旋转方向相同时，控制终端可以确定货叉碰撞处理策略为第四碰撞处理策略，即此时货叉处于自由旋转状态，从而，货叉可以在外力的作用下自由旋转以起到缓解外力的作用。
此外，当仅存在一个方向的外力、且外力的方向与伸缩臂的伸缩移动方向相同时，控制终端可以确定货叉碰撞处理策略为第五碰撞处理策略，即此时伸缩臂处于自由伸缩状态，从而，伸缩臂可以在外力的作用下自由伸缩以起到缓解外力的作用。
另外，当同时存在与货叉的旋转方向相同的外力、以及与伸缩臂的伸缩移动方向相同的外力时，控制终端可以确定货叉碰撞处理策略为第六碰撞处理策略，即此时货叉处于自由旋转状态且伸缩臂处于自由伸缩状态，从而，货叉可以在外力的作用下自由旋转且伸缩臂可以在外力的作用下自由伸缩，以起到缓解外力的作用。
可以理解，外力的方向与货叉的旋转方向相同，具体可以是两方向完全相同，或者两方向的夹角低于预设角度。外力的方向与伸缩臂的伸缩移动方向相同同理。
本实施例中，控制终端根据碰撞类型确定第三碰撞处理策略或第四碰撞处理策略或第五碰撞处理策略或第六碰撞处理策略，具体可以是根据货叉当前是否装有货物来确定采用何种碰撞处理策略，从而，既可以避免对货叉造成损坏，也可以防止货物掉落，从而保证货物安全。
在一些实施例中，按照如下至少一种方式确定机器人的货叉发生碰撞：驱动元件的工作电流的增大幅度达到第一预设阈值，且达到第一预设阈值的持续时间达到第一预设时长；或，货叉的运动速度的减小幅度达到第二预设阈值；或，驱动元件的工作电流的增大幅度达到第三预设阈值，且达到第三预设阈值的持续时间达到第二预设时长，以及，货叉的运动速度的减小幅度达到第四预设阈值；或，设置于货叉的压力传感器检测到的压力的变化幅度达到第五预设阈值。
其中，驱动元件包括用于驱动货叉旋转的第一驱动元件、用于驱动伸缩臂伸缩的第二驱动元件以及用于驱动货叉升降的第三驱动元件中的至少一种。
具体的，货叉的运动类型可以包括旋转、伸缩臂伸缩移动以及升降，控制终端在控制货叉的运动状态时，可以通过控制第一驱动元件来控制货叉进行旋转，也可以通过控制第二驱动元件来控制货叉的伸缩臂进行伸缩移动，还可以通过控制第三驱动元件来控制货叉进行升降。
在控制终端控制货叉进行正常旋转、正常伸缩移动或者正常升降，各驱动元件的工作电流均为正常的工作值，而如果货叉与障碍物发生碰撞，会使得货叉在正常旋转、正常伸缩移动或者正常升降的过程中受到外力(来自障碍物)的作用，此时，驱动元件为了克服外力，需要更大的工作电流，即工作电流会存在一定的增大幅度，因此，在工作电流的增大幅度达到第一预设阈值，且达到第一预设阈值的持续时间达到第一预设时长时，可以确定货叉发生碰撞。从而，通过对驱动元件的工作电流的变化情况进行检测，可以确定机器人的货叉是否发生碰撞。另外，通过设置持续时间的条件，可以避免出现由于电流突变等意外事件而导致控制终端误认为发送货叉碰撞的情况，从而提高货叉碰撞检测结果的准确性。
此外，在货叉进行正常旋转、正常伸缩移动或者正常升降的过程中， 货叉的运动速度为正常的速度值，而如果货叉与障碍物发生碰撞，会使得货叉在正常旋转、正常伸缩移动或者正常升降的过程中受到外力(来自障碍物)的作用，此时，货叉的运动速度会降低，因此，在货叉的运动速度的减小幅度达到第二预设阈值时，可以确定货叉发生碰撞。从而，通过对货叉的运动速度的变化情况进行检测，可以确定机器人的货叉是否发生碰撞。
另外，可以同时结合驱动元件的工作电流的变化情况以及货叉的运动速度的变化情况来检测货叉是否发生碰撞，具体的，当驱动元件的工作电流的增大幅度达到第三预设阈值，且达到第三预设阈值的持续时间达到第二预设时长，以及，货叉的运动速度的减小幅度达到第四预设阈值时，可以确定货叉发生碰撞。
其中，第三预设阈值可以和第一预设阈值相同，也可以不同；第二预设时长可以和第一预设时长相同，也可以不同；第四预设阈值可以和第二预设阈值相同，也可以不同。
另外，还可以在货叉上设置压力传感器，在货叉进行正常旋转、正常伸缩移动或者正常升降的过程中，如果货叉与障碍物发生碰撞，障碍物首先会与设置在货叉上的压力传感器接触，压力传感器在外力(来自障碍物)的作用下，其检测到的压力会发生变化，因此，在压力传感器检测到的压力的变化幅度达到第五预设阈值时，可以确定货叉发生碰撞。从而，通过对设置于货叉的压力传感器检测到的压力的变化情况进行检测，可以确定机器人的货叉是否发生碰撞。
本实施例中，控制终端可以通过驱动元件的工作电流的变化情况、货叉的运动速度的变化情况以及压力传感器检测到的压力的变化情况来进行碰撞检测，从而可以准确检测货叉是否发生碰撞，以便于进行货叉碰撞处理，以保护货叉。
在一些实施例中，还包括：在检测到机器人的货叉发生碰撞后，对碰撞的障碍物进行识别，并根据识别结果对障碍物进行处理。
具体的，控制终端在检测到机器人的货叉发生碰撞之后，除了按照货叉碰撞处理策略处理货叉碰撞事件以外，还可以对障碍物的类型等信息进 行识别，并根据障碍物的识别结果对障碍物进行处理，从而，可以避免该障碍物与其他机器人发生碰撞，保证机器人或者障碍物的安全。
例如，控制终端可以调用设置在机器人的摄像头拍摄障碍物的图像，然后通过目标识别技术来对障碍物进行识别，从而得到障碍物的识别结果。可以理解，控制终端也可以通过其他方式进行障碍物识别，例如，通过射频识别技术(Radio Frequency Identification，RFID)进行货物的电子标签识别等，在此不做具体限定。
在一些实施例中，根据识别结果对障碍物进行处理，包括：在障碍物为货物时，根据识别结果确定障碍物的货物类型；根据障碍物的货物类型，将障碍物搬运至对应的货物存放位置。
具体的，控制终端通过对障碍物进行识别后，若确定障碍物为货物，则进一步根据识别结果确定障碍物的货物类型，并确定该货物所对应的货物存放位置，从而，控制终端控制机器人将该货物搬运至对应的货物存放位置，在对障碍物进行处理的同时，也可以保证货物存放的合理性。
在一些实施例中，还包括：在检测到货叉即将发生碰撞时，执行货叉碰撞避让策略。
具体的，控制终端也可以在机器人运行的过程中，对货叉是否会发生碰撞进行检测，并在检测到货叉即将发生碰撞时，执行货叉碰撞避让策略，从而避免出现货叉碰撞的情况，以起到提前保护货叉的作用。
在一些实施例中，按照如下方式确定机器人的货叉即将发生碰撞：基于货叉与障碍物之间的距离，以及货叉的当前运动状态，确定障碍物在货叉的运动路径上。
具体的，机器人安装有用于进行距离测量的传感器，例如光电传感器、测距传感器或者超声波雷达传感器等，控制终端可以通过进行距离测量的传感器来获取货叉与障碍物之间的距离。然后，结合货叉的当前运动状态，控制终端可以得到货叉的运动路径，最后，基于货叉与障碍物之间的距离以及货叉的运动路径确定障碍物是否在货叉的运动路径上。
若控制终端确定障碍物在货叉的运动路径上，说明货叉按照当前的运动路径进行运动时会与该障碍物发生碰撞，在这种情况下，控制终端可以 执行货叉碰撞避让策略。
若控制终端确定障碍物不在货叉的运动路径上，说明货叉按照当前的运动路径进行运动时不会与该障碍物发生碰撞，在这种情况下，控制终端无需执行货叉碰撞避让策略。
其中，货叉的当前运动状态可以是旋转、伸缩移动或者升降等，相应的，货叉的路径可以是货叉的旋转路径、伸缩移动路径或者升降路径等。
例如，图4为本申请实施例中货叉与障碍物的位置关系的示例图，如图4所示，机器人10上设置有货叉11(为便于理解，其他结构未示出)，货叉11可以在控制终端的控制下，在图中A-B高度范围内升降，在图中C-D长度范围内伸缩移动。另外，图中包含四个障碍物，分别为20a、20b、20c以及20d。
具体的，控制终端可以通过第三驱动元件控制货叉11沿B→A的方向，向上移动(即上升)至货叉11a所在的位置，货叉11a所在的位置为货叉11上升的最高位置。
在上升过程中，货叉11的运动路径为由货叉11当前所在的位置至货叉11a所在的位置，此时，对于障碍物20a，控制终端基于货叉11与障碍物20a之间的距离，以及货叉的当前运动状态，确定障碍物20a在货叉11的运动路径上，因此，控制终端可以确认货叉11即将与障碍物20a发生碰撞。
而对于障碍物20b，控制终端基于货叉11与障碍物20b之间的距离，以及货叉的当前运动状态，确定障碍物20b不在货叉11的运动路径上，因此，控制终端可以确认货叉11不会与障碍物20b发生碰撞。
此外，控制终端也可以通过第三驱动元件控制货叉11沿A→B的方向，向下移动(即下降)至货叉11b所在的位置，货叉11b所在的位置为货叉11下降的最低位置。
另外，控制终端可以通过第二驱动元件控制货叉11的伸缩臂沿C→D的方向进行伸缩移动，以使货叉11移动至货叉11d所在的位置，货叉11d所在的位置为货叉11伸缩移动的最远位置。此时，对于障碍物20c，控制终端基于货叉11与障碍物20c之间的距离，以及货叉的当前运动状态，确定障碍物20c在货叉11的运动路径上，因此，控制终端可以确认货叉 11即将与障碍物20c发生碰撞。
而对于障碍物20d，控制终端基于货叉11与障碍物20d之间的距离，以及货叉的当前运动状态，确定障碍物20d不在货叉11的运动路径上，因此，控制终端可以确认货叉11不会与障碍物20d发生碰撞。
本实施例中，在控制终端基于货叉与障碍物之间的距离以及货叉的当前运动状态确定障碍物在货叉的运动路径上时，可以确定机器人的货叉即将发生碰撞，从而执行货叉碰撞避让策略，以避免货叉与障碍物发生碰撞，起到提前保护货叉的作用。
在一些实施例中，执行货叉碰撞避让策略，包括：根据障碍物的位置，调整货叉的位置，以使得货叉不与障碍物发生碰撞。
具体的，控制终端在确定障碍物位于货叉的运动路径上时，可以根据障碍物的位置来对货叉的位置进行调整，从而避免货叉在运动过程中与障碍物发生碰撞，以提前保护货叉。
在一些实施例中，根据障碍物的位置，调整货叉的位置，以使得货叉不与障碍物发生碰撞，包括：在障碍物位于货叉的运动路径上时，对货叉的运动路径进行调整，以使得障碍物不在货叉的运动路径上；或者，在障碍物位于货叉的运动路径上时，控制货叉沿运动路径运动至预设位置，并输出障碍物提示信息，其中，预设位置为运动路径上距离障碍物预设距离的位置。
控制终端在确定障碍物位于货叉的运动路径上时，可以通过对货叉的运动路径进行调整，以使得障碍物不在货叉的运动路径上，从而，货叉在运动过程不会与该障碍物发生碰撞，从而起到避开障碍物的目前，实现自动避障。
具体的，控制终端在进行货叉的运动路径调整时，可以是包括机器人的位置调整，即控制机器人的移动底盘进行移动。由于货叉是设置在机器人上，当机器人的位置发生变化时，货叉的运动路径也会发生变化，从而起到避障的作用。
例如，图5a为控制终端控制货叉避让障碍物的示意图，如图5a所示，机器人10在取货过程中，控制终端控制货叉11的运动路径为A-B-C，其中，A-B为控制货叉11进行升降(具体为上升)的运动路径，B-C为控 制货叉11的伸缩臂进行伸缩(具体为伸出)的运动路径。然而，由于存在障碍物20，且障碍物20位于B-C运动路径上，控制终端确定该障碍物20将与货叉11发生碰撞。因此，控制终端可以控制机器人10进行位置移动，例如进行位置移动后的机器人为图中的机器人10'，相应的，进行位置移动后的货叉为图中的货叉11'，从而，货叉11'可以按照图中A'-B'-C'的运动路径进行运动，以执行取货处理，且可以顺利避开障碍物20。
另外，控制终端在确定障碍物位于货叉的运动路径上时，也可以控制货叉沿运动路径运动至距离障碍物预设距离的预设位置，并输出障碍物提示信息，以提醒相关人员对障碍物进行处理。在障碍物被处理后，控制终端可以控制货叉继续按照原来的运动路径进行运动。
例如，图5b为控制终端控制货叉避让障碍物的另一示意图，如图5b所示，机器人10在取货过程中，控制终端控制货叉11的运动路径为A-B-C，其中，A-B为控制货叉11进行升降(具体为上升)的运动路径，B-C为控制货叉11的伸缩臂进行伸缩(具体为伸出)的运动路径。然而，由于存在障碍物20，且障碍物20位于B-C运动路径上，控制终端确定该障碍物20将与货叉11发生碰撞。因此，控制终端可以控制货叉11首先运动至图中距离障碍物预设距离的D点位置，并输出障碍物提示信息。然后，在障碍物被处理后，再控制货叉11由D点移动至C点，也可以，货叉11运动至图中距离障碍物预设距离的D点位置后，机器人将障碍物20搬运至自身的存储单元中，再控制货叉11运动到C点，从而避免货叉与障碍物发生碰撞，以保护货叉。
应该理解的是，虽然上述实施例中的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，其可以以其他的顺序执行。而且，图中的至少一部分步骤可以包括多个子步骤或者多个阶段，这些子步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，其执行顺序也不必然是依次进行，而是可以与其他步骤或者其他步骤的子步骤或者阶段的至少一部分轮流或者交替地执行。
在一些实施例中，提供一种货叉碰撞处理装置。
图6为本申请实施例提供的货叉碰撞处理装置的示意图，如图6所示，该装置包括：
类型确定模块100，用于当检测到机器人的货叉发生碰撞时，确定碰撞类型；
策略确定模块200，用于根据碰撞类型确定货叉碰撞处理策略；
碰撞处理模块300，用于根据货叉碰撞处理策略处理货叉碰撞。
关于货叉碰撞处理装置的具体限定可以参见上文中对于货叉碰撞处理方法的限定，在此不再赘述。上述货叉碰撞处理装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
本申请提供一种货叉碰撞处理装置，在检测到货叉发生碰撞时，首先确定货叉发生碰撞的碰撞类型，然后根据确定的碰撞类型来确定货叉碰撞处理策略，最后，根据确定的货叉碰撞处理策略来对货叉碰撞事件进行处理。相比于机器人继续控制货叉执行动作的做法，本申请在发生货叉碰撞时可以根据碰撞类型来处理货叉碰撞事件，从而可以有效保护货叉，防止货叉发生损坏，降低设备维护成本。
在一些实施例中，碰撞类型包括伸缩臂伸出碰撞和伸缩臂未伸出碰撞。
在一些实施例中，策略确定模块200具体用于：在碰撞类型为伸缩臂未伸出碰撞时，根据碰撞类型确定第一碰撞处理策略；或，根据碰撞类型确定第二碰撞处理策略；
其中，第一碰撞处理策略包括：控制货叉的运动速度为零；
第二碰撞处理策略包括：控制货叉的运动速度为零，以及控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态。
在一些实施例中，策略确定模块200具体用于：在货叉装有货物时，根据碰撞类型确定第一碰撞处理策略；在货叉未装有货物时，根据碰撞类型确定第二碰撞处理策略。
在一些实施例中，策略确定模块200具体用于：在碰撞类型为伸缩臂 伸出碰撞时，根据碰撞类型确定第三碰撞处理策略；或，根据碰撞类型确定第四碰撞处理策略；或，根据碰撞类型确定第五碰撞处理策略；或，根据碰撞类型确定第六碰撞处理策略；
其中，第三碰撞处理策略包括：控制伸缩臂的伸缩速度为零；
第四碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态；
第五碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用于驱动伸缩臂伸缩的第二驱动元件停止驱动伸缩臂伸缩，以使得伸缩臂处于自由伸缩状态；
第六碰撞处理策略包括：控制伸缩臂的伸缩速度为零，控制用于驱动货叉旋转的第一驱动元件停止驱动货叉旋转，以使得货叉处于自由旋转状态，以及控制用于驱动伸缩臂伸缩的第二驱动元件停止驱动伸缩臂伸缩，以使得伸缩臂处于自由伸缩状态。
在一些实施例中，策略确定模块200具体用于：在货叉装有货物时，根据碰撞类型确定第三碰撞处理策略；在货叉未装有货物时，根据碰撞类型确定第四碰撞处理策略，或，确定第五碰撞处理策略，或，确定第六碰撞处理策略。
在一些实施例中，按照如下至少一种方式确定机器人的货叉发生碰撞：
驱动元件的工作电流的增大幅度达到第一预设阈值，且达到第一预设阈值的持续时间达到第一预设时长；或，
货叉的运动速度的减小幅度达到第二预设阈值；或，
驱动元件的工作电流的增大幅度达到第三预设阈值，且达到第三预设阈值的持续时间达到第二预设时长，以及，货叉的运动速度的减小幅度达到第四预设阈值；或，
设置于货叉的压力传感器检测到的压力的变化幅度达到第五预设阈值；
其中，驱动元件包括用于驱动货叉旋转的第一驱动元件、用于驱动伸缩臂伸缩的第二驱动元件以及用于驱动货叉升降的第三驱动元件中的至少一种。
在一些实施例中，货叉碰撞处理装置还包括：障碍物处理模块，用于在检测到机器人的货叉发生碰撞后，对碰撞的障碍物进行识别，并根据识别结果对障碍物进行处理。
在一些实施例中，障碍物处理模块具体用于：在障碍物为货物时，根据识别结果确定障碍物的货物类型；根据障碍物的货物类型，将障碍物搬运至对应的货物存放位置。
在一些实施例中，货叉碰撞处理装置还包括：碰撞避让模块，用于在检测到货叉即将发生碰撞时，执行货叉碰撞避让策略。
在一些实施例中，按照如下方式确定机器人的货叉即将发生碰撞：
基于货叉与障碍物之间的距离，以及货叉的当前运动状态，确定障碍物在货叉的运动路径上。
在一些实施例中，碰撞避让模块具体用于：根据障碍物的位置，调整货叉的位置，以使得货叉不与障碍物发生碰撞。
在一些实施例中，碰撞避让模块具体用于：在障碍物位于货叉的运动路径上时，对货叉的运动路径进行调整，以使得障碍物不在货叉的运动路径上；或者，在障碍物位于货叉的运动路径上时，控制货叉沿运动路径运动至预设位置，并输出障碍物提示信息，其中，预设位置为运动路径上距离障碍物预设距离的位置。
在一些实施例中，提供一种机器人，包括：货叉，以及上述的货叉碰撞处理装置。
在一些实施例中，提供一种计算机设备，图7为本申请实施例提供的计算机设备的示意图，如图7所示，该计算机设备包括：存储器71，处理器72及存储在存储器71上并可在处理器72上运行的计算机程序，处理器72执行程序时实现如上述的货叉碰撞处理方法。
其中，存储器和处理器之间直接或间接地电性连接，以实现数据的传输或交互。例如，这些元件相互之间可以通过一条或者多条通信总线或信号线实现电性连接，如可以通过总线连接。存储器中存储有实现数据访问控制方法的计算机执行指令，包括至少一个可以软件或固件的形式存储于存储器中的软件功能模块，处理器通过运行存储在存储器内的软件程序以 及模块，从而执行各种功能应用以及数据处理。
存储器可以是，但不限于，随机存取存储器(Random Access Memory，RAM)，只读存储器(Read Only Memory，ROM)，可编程只读存储器(Programmable Read-Only Memory，PROM)，可擦除只读存储器(Erasable Programmable Read-Only Memory，EPROM)，电可擦除只读存储器(Electric Erasable Programmable Read-Only Memory，EEPROM)等。其中，存储器用于存储程序，处理器在接收到执行指令后，执行程序。进一步地，上述存储器内的软件程序以及模块还可包括操作系统，其可包括各种用于管理系统任务(例如内存管理、存储设备控制、电源管理等)的软件组件和/或驱动，并可与各种硬件或软件组件相互通信，从而提供其他软件组件的运行环境。
处理器可以是一种集成电路芯片，具有信号的处理能力。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
在一些实施例中，提供一种计算机可读存储介质，计算机可读存储介质中存储有计算机执行指令，计算机执行指令被处理器执行时用于实现如上述的货叉碰撞处理方法。
在一些实施例中，提供一种计算机程序产品，包括计算机程序，该计算机程序被处理器执行时实现如上述的货叉碰撞处理方法。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和/或易失性存储器。非易失性存储器可包括只读存储器(ROM)、可编程ROM(PROM)、电可编程ROM(EPROM)、电可擦除可编程ROM(EEPROM)或闪存。易失性存储器可包括随机存取存储器(RAM)或者外部高速缓冲存储器。作为说明而非局限，RAM以多种形式可得，诸如静态RAM(SRAM)、动态RAM (DRAM)、同步DRAM(SDRAM)、双数据率SDRAM(DDRSDRAM)、增强型SDRAM(ESDRAM)、同步链路(Synchlink)DRAM(SLDRAM)、存储器总线(Rambus)直接RAM(RDRAM)、直接存储器总线动态RAM(DRDRAM)、以及存储器总线动态RAM(RDRAM)等。
本领域技术人员在考虑说明书及实践这里公开的申请后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (18)

  1. 一种货叉碰撞处理方法，其特征在于，包括：
    当检测到机器人的货叉发生碰撞时，确定碰撞类型；
    根据碰撞类型确定货叉碰撞处理策略；
    根据所述货叉碰撞处理策略处理货叉碰撞。
  2. 根据权利要求1所述的方法，其特征在于，所述碰撞类型包括伸缩臂伸出碰撞和伸缩臂未伸出碰撞。
  3. 根据权利要求2所述的方法，其特征在于，所述碰撞类型为伸缩臂未伸出碰撞，所述根据碰撞类型确定货叉碰撞处理策略，包括：
    根据所述碰撞类型确定第一碰撞处理策略；或，
    根据所述碰撞类型确定第二碰撞处理策略；
    其中，所述第一碰撞处理策略包括：控制货叉的运动速度为零；
    所述第二碰撞处理策略包括：控制货叉的运动速度为零，以及控制用于驱动所述货叉旋转的第一驱动元件停止驱动所述货叉旋转，以使得所述货叉处于自由旋转状态。
  4. 根据权利要求3所述的方法，其特征在于，在所述货叉装有货物时，根据所述碰撞类型确定所述第一碰撞处理策略；
    在所述货叉未装有货物时，根据所述碰撞类型确定所述第二碰撞处理策略。
  5. 根据权利要求2所述的方法，其特征在于，所述碰撞类型为伸缩臂伸出碰撞，所述根据碰撞类型确定货叉碰撞处理策略，包括：
    根据所述碰撞类型确定第三碰撞处理策略；或，
    根据所述碰撞类型确定第四碰撞处理策略；或，
    根据所述碰撞类型确定第五碰撞处理策略；或，
    根据所述碰撞类型确定第六碰撞处理策略；
    其中，所述第三碰撞处理策略包括：控制伸缩臂的伸缩速度为零；
    所述第四碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用于驱动所述货叉旋转的第一驱动元件停止驱动所述货叉旋转，以使得所述货叉处于自由旋转状态；
    所述第五碰撞处理策略包括：控制伸缩臂的伸缩速度为零，以及控制用 于驱动所述伸缩臂伸缩的第二驱动元件停止驱动所述伸缩臂伸缩，以使得所述伸缩臂处于自由伸缩状态；
    所述第六碰撞处理策略包括：控制伸缩臂的伸缩速度为零，控制用于驱动所述货叉旋转的第一驱动元件停止驱动所述货叉旋转，以使得所述货叉处于自由旋转状态，以及控制用于驱动所述伸缩臂伸缩的第二驱动元件停止驱动所述伸缩臂伸缩，以使得所述伸缩臂处于自由伸缩状态。
  6. 根据权利要求5所述的方法，其特征在于，在所述货叉装有货物时，根据所述碰撞类型确定所述第三碰撞处理策略；
    在所述货叉未装有货物时，根据所述碰撞类型确定所述第四碰撞处理策略，或，确定所述第五碰撞处理策略，或，确定所述第六碰撞处理策略。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，按照如下至少一种方式确定机器人的货叉发生碰撞：
    驱动元件的工作电流的增大幅度达到第一预设阈值，且达到所述第一预设阈值的持续时间达到第一预设时长；或，
    所述货叉的运动速度的减小幅度达到第二预设阈值；或，
    所述驱动元件的工作电流的增大幅度达到第三预设阈值，且达到所述第三预设阈值的持续时间达到第二预设时长，以及，所述货叉的运动速度的减小幅度达到第四预设阈值；或，
    设置于所述货叉的压力传感器检测到的压力的变化幅度达到第五预设阈值；
    其中，所述驱动元件包括用于驱动所述货叉旋转的第一驱动元件、用于驱动伸缩臂伸缩的第二驱动元件以及用于驱动所述货叉升降的第三驱动元件中的至少一种。
  8. 根据权利要求1-6任一项所述的方法，其特征在于，还包括：
    在检测到机器人的货叉发生碰撞后，对碰撞的障碍物进行识别，并根据识别结果对所述障碍物进行处理。
  9. 根据权利要求8所述的方法，其特征在于，所述根据识别结果对所述障碍物进行处理，包括：
    在所述障碍物为货物时，根据所述识别结果确定所述障碍物的货物类型；
    根据所述障碍物的货物类型，将所述障碍物搬运至对应的货物存放位置。
  10. 根据权利要求1-6任一项所述的方法，其特征在于，还包括：
    在检测到所述货叉即将发生碰撞时，执行货叉碰撞避让策略。
  11. 根据权利要求10所述的方法，其特征在于，按照如下方式确定机器人的货叉即将发生碰撞：
    基于所述货叉与障碍物之间的距离，以及所述货叉的当前运动状态，确定所述障碍物在所述货叉的运动路径上。
  12. 根据权利要求10所述的方法，其特征在于，所述执行货叉碰撞避让策略，包括：
    根据障碍物的位置，调整所述货叉的位置，以使得所述货叉不与所述障碍物发生碰撞。
  13. 根据权利要求12所述的方法，其特征在于，所述根据障碍物的位置，调整所述货叉的位置，以使得所述货叉不与所述障碍物发生碰撞，包括：
    在所述障碍物位于所述货叉的运动路径上时，对所述货叉的运动路径进行调整，以使得所述障碍物不在所述货叉的运动路径上；或者，
    在所述障碍物位于所述货叉的运动路径上时，控制所述货叉沿所述运动路径运动至预设位置，并输出障碍物提示信息，其中，所述预设位置为所述运动路径上距离所述障碍物预设距离的位置。
  14. 一种货叉碰撞处理装置，其特征在于，包括：
    类型确定模块，用于当检测到机器人的货叉发生碰撞时，确定碰撞类型；
    策略确定模块，用于根据碰撞类型确定货叉碰撞处理策略；
    碰撞处理模块，用于根据所述货叉碰撞处理策略处理货叉碰撞。
  15. 一种机器人，其特征在于，包括：货叉，以及如权利要求14所述的货叉碰撞处理装置。
  16. 一种计算机设备，其特征在于，包括：存储器，处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序，所述处理器执行所述程序时实现如上述权利要求1-13任一项所述的货叉碰撞处理方法。
  17. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如权利要求1-13任一项所述的货叉碰撞处理方法。
  18. 一种计算机程序产品，包括计算机程序，其特征在于，该计算机程序被处理器执行时实现权利要求1-13任一项所述的货叉碰撞处理方法。
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