WO2022199448A1 - 机器人以及基于机器人的料箱检测方法 - Google Patents

机器人以及基于机器人的料箱检测方法 Download PDF

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Publication number
WO2022199448A1
WO2022199448A1 PCT/CN2022/081276 CN2022081276W WO2022199448A1 WO 2022199448 A1 WO2022199448 A1 WO 2022199448A1 CN 2022081276 W CN2022081276 W CN 2022081276W WO 2022199448 A1 WO2022199448 A1 WO 2022199448A1
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WIPO (PCT)
Prior art keywords
detection
pick
component
place
robot
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PCT/CN2022/081276
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English (en)
French (fr)
Inventor
李泽伟
王鹏飞
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北京极智嘉科技股份有限公司
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Application filed by 北京极智嘉科技股份有限公司 filed Critical 北京极智嘉科技股份有限公司
Priority to KR1020237031984A priority Critical patent/KR20230146634A/ko
Priority to EP22774109.7A priority patent/EP4296199A1/en
Publication of WO2022199448A1 publication Critical patent/WO2022199448A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45056—Handling cases, boxes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45063—Pick and place manipulator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the embodiments of the present disclosure relate to the field of robotics, and in particular, to a robot and a robot-based bin detection method.
  • the embodiments of the present disclosure provide a robot and a method for detecting a material box based on the robot, so as to accurately detect the storage state of the material box at a specified position.
  • an embodiment of the present disclosure provides a robot, including: a main control processing unit, a pick-and-place assembly, and a detection assembly disposed on the pick-and-place assembly; wherein:
  • the detection component is configured to align the storage bits to be detected along the detection direction to collect data and send it to the main control processing unit;
  • the main control processing unit is configured to determine the storage state of the bin on the storage position to be detected according to the data collection result, so as to control the pick and place component to pick and place the bin.
  • an embodiment of the present disclosure also provides a method for detecting a material bin based on a robot, the method comprising:
  • the main control processing unit determines the storage state of the bin on the storage position to be detected according to the data collection result, so as to control the pick-and-place assembly to pick and place the bin.
  • an embodiment of the present disclosure further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the above-mentioned method for detecting a container based on a robot.
  • an embodiment of the present disclosure further provides a computer program product, the computer program product includes computer program code, when the computer program code is run on a computer, to execute the above-mentioned robot-based material box Detection method.
  • an embodiment of the present disclosure further provides a computer program, the computer program includes computer program code, when the computer program code is run on a computer, so that the computer executes the above-mentioned robot-based bin detection method.
  • the detection component on the robot can automatically align the storage location to be detected for data collection, and the main control processing unit on the robot can determine the storage location to be detected based on the data collection result of the detection component.
  • the storage state of the bin which is used to control the pick and place components on the robot to pick and place the bin.
  • the position state of the material box can be obtained through the orientation detection of the detection component on the robot in the scenario where the robot normally retrieves and returns the box or the human interferes with the material box, so as to avoid abnormality in the robot's retrieval and return of the box.
  • the dispatching system cannot accurately record the position and storage status of the material box and cannot dispatch the robot to perform the task of picking up and returning the box, it can be reported to the dispatching system in time to improve the efficiency and reliability of the system.
  • FIG. 1 is a structural block diagram of a robot provided in an embodiment of the present disclosure
  • FIG. 2 is a schematic diagram of a robot performing bin detection according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of another kind of robot performing bin detection provided in an embodiment of the present disclosure.
  • FIG. 4 is a structural block diagram of another robot provided in an embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram of a movement adjustment of a pick-and-place assembly provided in an embodiment of the present disclosure
  • FIG. 6 is a schematic diagram of the installation of a detection component provided in an embodiment of the present disclosure.
  • FIG. 7 is a front view of a detection assembly provided in an embodiment of the present disclosure.
  • FIG. 8 is a top view of a detection assembly provided in an embodiment of the present disclosure.
  • FIG. 9 is a top view of another detection assembly provided in an embodiment of the present disclosure.
  • FIG. 10 is a method for detecting a bin based on a robot provided in an embodiment of the present disclosure.
  • FIG. 1 is a structural block diagram of a robot provided in an embodiment of the present disclosure.
  • the embodiments of the present disclosure may be applicable to the situation where the robot performs real-time detection on the storage state of the loading box at the storage position to be detected.
  • the robot 100 in the embodiment of the present application may include: a main control processing unit 110, a pick-and-place assembly 120, and a detection assembly 130 disposed on the pick-and-place assembly 120; wherein:
  • the detection component 130 is configured to align the storage bits to be detected along the detection direction to collect data and send the data to the main control processing unit 110;
  • the main control processing unit 110 is configured to determine the storage state of the bin on the storage position to be detected according to the data collection result, so as to control the pick-and-place assembly 120 to pick and place the bin.
  • the RMS or the upper-level service system needs to be notified that the robot is on the temporary storage component.
  • the RMS also needs to re-acquire the storage status of the bins on a specific shelf to better schedule the robot to perform the task of picking and returning the bins.
  • the storage position to be detected can be set as the temporary storage component set on the robot body and the target shelf position in the storage area, so as to detect the storage situation of the temporary storage component and the loading box of the shelf position.
  • the temporary storage component may be a temporary storage tray, which is used to temporarily store the material boxes taken out from the shelf or stored in the shelf.
  • the storage position to be detected can be set as the pick-and-place component set on the robot body, so as to detect the storage condition of the pick-and-place component feeding box.
  • the pick-and-place assembly can be used to take out the material box from the to-be-storage position or put the material box into the to-be-storage position.
  • a detection component 130 is installed on the pick-and-place component 120 of the robot.
  • the detection direction of the detection component 130 installed on the pick-and-place component 120 The storage bit to be detected can be aligned and data collection can be performed, and the collected data collection result can be sent to the main control processing unit 110 .
  • the main control processing unit 110 will determine whether a material box is placed in the to-be-detected storage position according to the data collection result, so that the robot can control the pick-and-place component to pick and place the material box.
  • the position state of the material box can be obtained through real-time detection by the detection component on the robot, so as to avoid the abnormality of the robot returning the box.
  • the scheduling system cannot accurately record the position and storage status of the material box and cannot schedule the robot to perform the task of picking up and returning the box, the storage situation of the material box can be reported to the scheduling system in time to facilitate scheduling and improve the efficiency and reliability of the system.
  • the detection component 130 may include a first detection component 1301 , and the storage positions to be detected are the temporary storage components set on the robot body and the target rack positions located in the storage area. in:
  • the main control processing unit 110 is configured to control the pick-and-place component 120 to perform movement adjustment, so as to drive and adjust the detection direction of the first detection component 1301 to align with the storage bit to be detected.
  • the first detection component 1301 is configured to, after adjusting the detection direction of the first detection component 1301, align the storage bit to be detected along the detection direction to perform data collection.
  • the first detection component 1301 is disposed on the pick-and-place component 120, and the pick-and-place component 120 is independent of the temporary storage component on the robot and the target shelf position in the storage area, so that the position of the first detection component 1301 is possible Not adjacent to staging components and target shelf slots.
  • the main control processing unit 110 controls the pick-and-place component 120 to perform movement adjustment, and synchronously drives the first detection component 1301 to perform movement adjustment, so that the detection direction of the first detection component 1301 can be aligned with the storage position to be detected, that is, aligned with the temporary storage component. and target shelf slots located in the storage area. Furthermore, the first detection component 1301 after moving and adjusting the detection direction can be aligned with the storage bit to be detected along the detection direction to perform data collection.
  • a plurality of compartments with different heights are provided on the robot, and the heights between the different compartments may be the same or different.
  • one compartment corresponds to a temporary storage component, and a material box is allowed to be stored on a temporary storage component.
  • the material box can be a storage container for holding various items.
  • the detection direction of the first detection component 1301 is parallel to the horizontal rotation plane of the pick-and-place component 120 on the robot, and the detection direction of the first detection component 1301 is related to the pick-and-place component.
  • the preset calibration orientation on assembly 120 remains the same. in:
  • the main control processing unit 110 is configured to control the pick-and-place assembly 120 to perform horizontal rotation adjustment and/or height adjustment when the pick-and-place assembly 120 is controlled to move to the opposite side of the storage position to be detected.
  • the main control processing unit 110 can control the pick-and-place assembly 120 of the robot to move to the opposite side of the storage bit to be detected according to the position information of the storage bit to be detected carried by the received detection instruction.
  • the pick-and-place assembly 120 and the storage position to be detected are directly adjacent in space, so that the pick and place assembly 120 is flush with the storage position to be detected or slightly higher than the storage position to be detected.
  • the detection of the first detection component 1301 installed on the pick and place component 120 may occur. If the direction and/or height are not suitable, the detection direction of the first detection component 1301 cannot be directed to the inner side of the storage position to be detected. , which makes it impossible to collect data on the storage bit to be detected.
  • the horizontal rotation adjustment of the pick-and-place assembly 120 is controlled to synchronously drive the detection direction of the first detection assembly 1301 to rotate horizontally; and, by controlling the pick-and-place assembly
  • the height of the component 120 is adjusted, and the detection direction of the first detection component 1301 on the pick-and-place component 120 is simultaneously driven to adjust the height up and down.
  • the robot 100 of the embodiment of the present disclosure two sides of the pick-and-place assembly 120 of the robot 100 are respectively installed with a fork component, and the preset calibration direction may be set on the robot The fork direction of the fork part on the side of the pick-and-place assembly 120 of 100 .
  • the pick and place assembly of the robot 100 may include a rotating tray that allows for horizontal rotation and height adjustment.
  • the first detection component 1301 is disposed on the fork part on one side of the pick-and-place component 120 , and the pick-and-place port width L1 of the pick-and-place component 120 is larger than the width L1 of the pick-and-place component 120 to be Detect the size L0 of the bin to be picked and placed on the storage position.
  • the main control processing unit 110 is specifically configured to control the pick-and-place component 120 to perform at least one horizontal rotation adjustment according to the effective rotation angle of the pick-and-place component 120 to drive the first detection component 1301 to adjust the detection direction on the same plane.
  • the pick-and-place port of the pick-and-place assembly 120 on the control robot is loading the material box in the storage position to be detected.
  • the detection beam or sound wave emitted by the first detection component 1301 passes through the gap outside the loading box of the storage position to be detected, and the loading box cannot be detected. Therefore, when the bin is detected, the pick-and-place assembly 120 needs to be rotated by a certain angle ⁇ until the detection beam or sound wave emitted by the first detection assembly 1301 along the detection direction is irradiated on the bin.
  • the effective rotation angle includes the relative rotation reference direction of the first detection component 1301, which can make the detection direction of the first detection component 1301 point to the minimum rotation angle ⁇ 2 and the maximum rotation angle ⁇ 1 of the loading box to be stored.
  • the rotation reference direction may be the fork direction of the fork member on the first detection assembly 1301 when the pick-and-place port of the pick-and-place assembly 120 is facing the storage position to be detected.
  • the fork direction of the fork member on the first detection assembly 1301 is parallel to the direction of the pick-and-place port of the pick-and-place assembly 120 .
  • the minimum rotation angle and the maximum rotation angle involved in the effective rotation angle is determined by the size of the bin to be placed in the to-be-tested storage position or the size of the to-be-tested storage position.
  • the detection direction of the first detection component 1301 on the pick-and-place component 120 can be adjusted. It is not difficult to see that when the detection directions of the first detection components 1301 are facing When the left and right outer sides of the material box, the detection beam or sound wave emitted by the first detection component 1301 along the detection direction irradiates the material box, otherwise it is likely to pass through the gap outside the material box at the storage position to be detected, and the material cannot be detected. box. Therefore, the corresponding angles when the detection direction faces the left and right outer sides of the material box respectively are the corresponding minimum rotation angle and maximum rotation angle.
  • the detection beam or sound wave emitted by the first detection assembly coincides with the outer edge line of the material box as an example, the middle effective rotation angle of the pick-and-place assembly 120 is The minimum rotation angle is zero.
  • the rotation angle range of the pick and place assembly 120 is [0, arctan(L 0 /d)], and the first detection component 1301 detects along the The distance measurement range obtained by the detection beam or sound wave emitted in the direction is [d, (d 2 +L 0 2 ) 1/2 ].
  • the rotation of the pick-and-place assembly can be controlled to make the detection direction of the first detection assembly 1301 turn to a certain angle between [0, arctan(L 0 /d)], and the first detection assembly 130 can be detected at this time. If the ranging distance L is within the range of [d,(d 2 +L 0 2 ) 1/2 ], it means that there is a material box on the storage position to be detected, otherwise, if it exceeds this range, there is no material box .
  • the minimum rotation angle and the maximum rotation angle relative to the rotation reference direction involved in the effective rotation angle are set when the bin is located on the opposite side The range of angles derived from the case.
  • it is to detect whether there is a material box on the storage position to be detected. It can be seen that the pick-and-place assembly cannot be controlled to be directly opposite to the material box, and the pick-and-place assembly can only be controlled to move to the opposite side of the storage position to be detected.
  • an angle located in the middle range can be selected from the effective rotation angle range to control the pick-and-place component to perform horizontal rotation adjustment, because regardless of the storage position to be detected Regardless of the placement angle of the middle material box, the rotation angle in the middle range of the effective angle range can usually ensure that the detection beam or sound wave emitted by the first detection component along the detection direction is irradiated to the material box at one time, avoiding multiple horizontal rotations of the pick-and-place component.
  • the first detection component 1301 is disposed at the bottom of the pick-and-place component 120 . in,
  • the main control processing unit 110 is specifically configured to control the pick-and-place assembly 120 to perform height adjustment, so that the bottom of the pick-and-place assembly 120 is higher than the storage position to be detected and the height difference is smaller than a preset threshold; and, the pick-and-place assembly 120 is controlled to rotate horizontally, The detection direction of the first detection component 1301 is driven to align the storage bit to be detected.
  • the first detection component 1301 is arranged at the bottom of the pick-and-place component 120, as long as the height of the first detection component is appropriate, the first detection The detection beam or sound wave emitted by the component along the detection direction can be irradiated on the bin of the storage position to be detected at one time.
  • the first detection component 1301 is arranged at the bottom of the pick-and-place component 120, it is necessary to control the height of the pick-and-place component to be slightly higher than the storage position to be detected, for example, the temporary storage component or the target shelf position.
  • the pick-and-place assembly is rotated horizontally so that the detection direction of the first detection assembly can be aligned with the material box.
  • the first detection component 1301 may be an image recognition sensor or a distance measurement sensor; the data collection result is that the first detection component 1301 is in front of the detection when it is aligned with the storage position to be detected. Acquired ranging information or image information.
  • ranging sensors include, but are not limited to, infrared diffuse reflection sensors, visible light sensors, laser sensors, and ultrasonic sensors.
  • the ranging sensors transmit light beams or sound waves to the front of the detection, calculate the round-trip time, and then obtain the distance to the front. the distance of the obstacle.
  • the image recognition sensors include but are not limited to cameras, depth cameras, etc.
  • the image recognition sensors collect and detect image information within the field of view in front of them, and then use machine vision recognition to detect the presence of containers and/or obstacles in front of them. exist.
  • the main control processing unit 110 may determine the to-be-detected storage position according to the distance measurement information or image information acquired by the first detection component 1301 before detection. Detects the presence of a bin on the storage location. For example, when the angle of the pick-and-place assembly is adjusted so that the detection beam or sound wave emitted by the first detection assembly in the detection direction can be irradiated to the storage position to be inspected at one time to detect the bin, read the first detection assembly along the detection direction.
  • the distance measurement information or the obstacle information of image recognition and based on the distance measurement information or the obstacle information of image recognition to determine whether the distance measurement distance is within the preset distance range or whether there are obstacles to further judge whether there is a material box on the storage position to be detected. . Then, record and report the information of the existence of the material box to the server, and control the angle of the pick-and-place assembly to restore the initial angle (if the fork part where the first detection assembly is located affects the lifting, the angle recovery operation of the pick-and-place assembly can be ignored) , control the pick-and-place assembly to move to the opposite side of the next storage position to be detected for the next bin detection.
  • the detection component 130 may include a second detection component 1302, the storage position to be detected includes a pick-and-place component provided on the robot body, and the detection direction of the second detection component 1302 is aligned with the pick-and-place component.
  • the material box enters the pick-and-place assembly for placement, it will be close to the second detection component 1302 provided on the pick-and-place component 120, thereby blocking the second detection component 1302 from sending out along the detection direction in front of the second detection component 1302. detection beam or sound wave.
  • the second detection assembly 1302 may include a master-slave through-beam sensor, and the master-slave through-beam sensor is disposed on both sides of the pick-and-place assembly 120 respectively, so that the material box enters the pick-and-place assembly When blocking the beam path between the master and slave beam sensors.
  • the second detection assembly 1302 may include a master-slave through-beam sensor, and the master-slave through-beam sensor is respectively disposed on the fork members on both sides of the pick-and-place assembly 120, so that the fork members on both sides return to the pick-and-place assembly 120. After the component is placed, the material box entering the pick-and-place component can block the through-beam path between the master and slave through-beam sensors.
  • the data collection result obtained by aligning the second detection component 1302 with the storage bit to be detected along the detection direction may include the difference between the master-slave beam sensor when the second detection component 1302 is aligned with the storage bit to be detected The conduction state of the radiation path.
  • the light emitted by the main through-beam sensor will not be blocked, but will be received by the slave sensor, and the light path will be turned on; on the contrary, if there is a material box on the storage position to be detected, the material box will The light emitted by the main through-beam sensor is blocked, causing the light path to be blocked, and the light from the main through-beam sensor cannot be received from the through-beam sensor.
  • the second detection component 1302 may include a single distance measuring sensor, and the single distance measuring sensor is disposed on the inner side of the pick and place assembly 120 facing the pick and place port side of the pick and place component 120 , And the detection direction of the single ranging sensor is consistent with the direction of the pick-and-place port of the pick-and-place assembly 120 .
  • the second detection component 1302, such as the installation of a single distance measuring sensor is on the innermost side wall of the pick and place assembly 120 facing the pick and place opening, and the detection direction of the single distance sensor is toward the pick and place component 120. and the detection direction of the single ranging sensor is perpendicular to the inner side wall of the pick and place assembly 120 .
  • the data collection result obtained by the second detection component 1302 aligning the storage bit to be detected along the detection direction for data collection may include the distance measurement obtained before the detection when the second detection component 1302 is aligned with the storage bit to be detected information.
  • the distance d of the obstacle in front if the distance d in front of the detection obtained by the second detection component 1302 is smaller than the length of the pick and place component along the direction of the pick and place opening, it is considered that the second detection component 1302 has a pre-detection distance in front of the detection component 1302.
  • a single distance measuring sensor may specifically be a single infrared through-beam sensor.
  • FIG. 10 is a schematic flowchart of a method for detecting a bin based on a robot provided in an embodiment of the present disclosure.
  • the embodiments of the present disclosure may be applicable to the situation where the robot performs real-time detection on the storage state of the loading box at the storage position to be detected.
  • the robot-based material box detection method in the embodiment of the present application may include the following steps:
  • the main control processing unit determines the storage state of the bin on the storage position to be detected according to the data collection result, so as to control the pick-and-place component to pick and place the bin.
  • the detection component set on the pick-and-place component of the robot is used to align the storage position to be detected along the detection direction to collect data and send it to the main control processing unit on the robot, including :
  • the pick-and-place component of the robot is controlled by the main control processing unit to perform movement adjustment, so as to drive and adjust the detection direction of the first detection component in the detection component to align with the storage bit to be detected; wherein the storage bit to be detected includes The temporary storage components set by the robot body and the target shelf position of the storage area;
  • the first detection component After adjusting the detection direction of the first detection component, the first detection component aligns the storage bit to be detected along the detection direction to perform data collection.
  • the robot is provided with a plurality of compartments with different heights, and a temporary storage component is correspondingly provided in each compartment.
  • the method further includes:
  • the main control processing unit controls the pick-and-place assembly to perform horizontal rotation adjustment and/or height adjustment
  • the detection direction of the first detection component is parallel to the horizontal rotation surface of the pick and place component, and the detection direction of the first detection component remains the same as the preset calibration direction on the pick and place component.
  • the preset calibration direction includes a fork direction of a fork member disposed on one side of the pick-and-place assembly.
  • the pick-and-place assembly includes a rotating tray that allows horizontal rotation and height adjustment.
  • the first detection assembly is disposed on the fork part on one side of the pick-and-place assembly
  • controlling the pick-and-place assembly to perform horizontal rotation adjustment includes:
  • the main control processing unit controls the pick-and-place component to perform at least one horizontal rotation adjustment according to the effective rotation angle of the pick-and-place component, so as to drive the first detection component to adjust the detection direction on the same plane;
  • the effective rotation angle includes the relative rotation reference direction of the first detection component, which can make the detection direction of the first detection component point to the minimum rotation angle and the maximum rotation angle of the loading box at the position to be stored; the rotation reference direction is When the pick-and-place port of the pick-and-place assembly is to detect the storage position, the fork direction of the fork part on the first detection assembly is detected.
  • the minimum rotation angle and the maximum rotation angle are based on when the first detection component is facing the storage bit to be detected along the detection direction, the first detection component reaches the edge of the to-be-stored bit
  • the vertical distance of the line is determined by the size of the bin to be placed in the storage position to be inspected or the size of the storage position to be inspected.
  • the first detection component is disposed at the bottom of the pick-and-place component
  • controlling the pick-and-place assembly to perform horizontal rotation adjustment and height adjustment including:
  • the main control processing unit controls the pick-and-place assembly to perform height adjustment, so that the bottom of the pick-and-place assembly is higher than the storage position to be detected and the height difference is less than a preset threshold; and, controls the pick and place assembly to level Rotate to drive the detection direction of the first detection component to align with the storage bit to be detected.
  • the first detection component is an image recognition sensor or a ranging sensor
  • the data collection result is ranging information or image information acquired before detection when the first detection component is aligned with the storage position to be detected.
  • determining the storage state of the bin on the storage position to be detected according to the data collection result includes:
  • Whether there is a bin on the storage position to be detected is determined according to the distance measurement information or image information obtained by the first detection component before detection.
  • the detection component includes a second detection component
  • the detection direction of the second detection component is aligned with the inside of the pick-and-place component
  • the storage position to be detected includes a position on the robot body.
  • the second detection component includes a master-slave cross-radiation sensor, and the master-slave cross-radiation sensor is respectively disposed on both sides of the interior of the pick-and-place assembly, so that the material box enters the When picking and placing the assembly, the through-beam path between the master and slave through-beam sensors is blocked.
  • the second detection assembly includes a master-slave through-beam sensor, and the master-slave through-beam sensor is respectively disposed on the fork parts on both sides of the pick-and-place assembly.
  • the data collection result includes the conduction state of the beam path between the master and slave beam sensors when the second detection component is aligned with the storage bit to be detected.
  • the second detection component includes a single distance measuring sensor, and the single distance measuring sensor is disposed on the pick and place side facing the pick and place port of the pick and place component the inside of the component, and the detection direction of the single ranging sensor is consistent with the direction of the pick-and-place port of the pick-and-place component.
  • the data collection result is ranging information obtained before detection when the second detection component is aligned with the storage bit to be detected.
  • the robot-based material box detection method provided in the embodiment of the present disclosure can be executed by the robot provided in any of the above-mentioned embodiments of the present disclosure, and has the corresponding functions and beneficial effects of the robot for executing the robot-based material box detection method.
  • the operation process of the robot provided in any embodiment of the present application.
  • Embodiments of the present disclosure further provide a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, implements the above-mentioned robot-based bin detection method.
  • An embodiment of the present disclosure also provides a computer program product, the computer program product includes computer program code, when the computer program code is run on a computer, to execute the above-mentioned robot-based bin detection method.
  • An embodiment of the present disclosure also provides a computer program, the computer program includes computer program code, when the computer program code is run on a computer, so that the computer executes the above-mentioned robot-based bin detection method.

Abstract

一种机器人（100）以及基于机器人的料箱检测方法，该机器人（100）包括：主控处理单元（110）、取放组件（120）以及设置于取放组件（120）上的检测组件（130）；检测组件（130）配置为，沿检测方向对准待检测存储位进行数据采集并发送给主控处理单元（110）；主控处理单元（110）配置为，依据数据采集结果确定待检测存储位上的料箱存放状态，用以控制取放组件（120）取放料箱。

Description

机器人以及基于机器人的料箱检测方法
相关申请的交叉引用
本申请基于申请号为202110312616.2、申请日为2021年3月24日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开实施例涉及机器人技术领域，尤其涉及机器人以及基于机器人的料箱检测方法。
背景技术
随着机器人的不断发展，机器人被逐渐应用到仓储物流行业。在料箱类机器人业务场景中，通常需要获取料箱的存放状态，以供更好地调度机器人执行取还箱任务。虽然可以依靠调度系统记录料箱的位置以及每次取还箱操作造成的料箱位置变更，但是这仅限于机器人正常取还的情况下。一旦机器人工作出现异常情况，例如料箱跌落或者人为手动将某个料箱放置在托盘上，此时调度系统无法准确记录料箱位置和存放状态，导致无法调度机器人执行取还箱任务。
发明内容
本公开实施例中提供了一种机器人以及基于机器人的料箱检测方法，以实现精确检测指定位置上料箱存放状态。
第一方面，本公开实施例中提供了一种机器人，包括：主控处理单元、取放组件以及设置于所述取放组件上的检测组件；其中：
所述检测组件配置为，沿检测方向对准待检测存储位进行数据采集并发送给所述主控处理单元；
所述主控处理单元配置为，依据所述数据采集结果确定所述待检测存储位上的料箱存放状态，用以控制所述取放组件取放料箱。
第二方面，本公开实施例中还提供了一种基于机器人的料箱检测方法，所述方法包括：
通过机器人的取放组件上设置的检测组件，沿检测方向对准待检测存储位进行数据采集并发送给机器人上的主控处理单元；
所述主控处理单元依据所述数据采集结果确定所述待检测存储位上的料箱存放状态，用以控制所述取放组件取放料箱。
第三方面，本公开实施例中还提供了一种计算机可读存储介质，其上存储有计算机程序， 该程序被处理器执行时实现上述的基于机器人的料箱检测方法。
第四方面，本公开实施例中还提供了一种计算机程序产品，所述计算机程序产品中包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以执行上述的基于机器人的料箱检测方法。
第五方面，本公开实施例中还提供了一种计算机程序，所述计算机程序包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以使得计算机执行上述的基于机器人的料箱检测方法。
根据本公开实施例中提供的机器人方案，机器人上检测组件可以自动对准待检测存储位进行数据采集，而机器人上的主控处理单元能够基于检测组件的数据采集结果判断待检测存储位上的料箱存放状态，用以控制机器人上取放组件进行取放料箱。采用本公开的实施例方案，不管是机器人正常取还箱或者人为干涉料箱的场景下，通过机器人上检测组件的定向检测都能获知料箱的位置状态，以避免机器人取还箱异常。同时，可在调度系统无法准确记录料箱位置和存放状态无法调度机器人执行取还箱任务时及时上报给调度系统，提高系统的效率和可靠性。
上述发明内容仅是本公开技术方案的概述，为了能够更清楚了解本公开的技术手段，而可依照说明书的内容予以实施，并且为了让本公开的上述和其它目的、特征和优点能够更明显易懂，以下特举本公开的具体实施方式。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本公开的其它特征、目的和优点将会变得更明显。附图仅用于示出优选实施方式的目的，而并不认为是对本公开的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1是本公开实施例中提供的一种机器人的结构框图；
图2是本公开实施例中提供的一种机器人进行料箱检测的示意图；
图3是本公开实施例中提供的另一种机器人进行料箱检测的示意图；
图4是本公开实施例中提供的另一种机器人的结构框图；
图5是本公开实施例中提供的一种对取放组件进行移动调整的示意图；
图6是本公开实施例中提供的一种检测组件的安装示意图；
图7是本公开实施例中提供的一种检测组件的正视图；
图8是本公开实施例中提供的一种检测组件的俯视图；
图9是本公开实施例中提供的另一种检测组件的俯视图；
图10是本公开实施例中提供的一种基于机器人的料箱检测方法。
具体实施方式
下面结合附图和实施例对本公开作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅用于解释本公开，而非对本公开的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本公开相关的部分而非全部结构。
在更加详细地讨论示例性实施例之前，应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作(或步骤)描述成顺序的处理，但是其中的许多操作(或步骤)可以被并行地、并发地或者同时实施。此外，各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。
下面通过各实施例及各实施例的可选方案，对本公开实施例中提供的机器人以及基于机器人的料箱检测方法进行详细阐述。
图1是本公开实施例中提供的一种机器人的结构框图。本公开的实施例可适用于机器人对待检测存储位上料箱存放状态进行实时检测的情况。如图1所示，本申请实施例中的机器人100，可以包括：主控处理单元110、取放组件120以及设置于取放组件120上的检测组件130；其中：
检测组件130配置为，沿检测方向对准待检测存储位进行数据采集并发送给主控处理单元110；
主控处理单元110配置为，依据数据采集结果确定待检测存储位上的料箱存放状态，用以控制取放组件120取放料箱。
参见图2，在机器人取还料箱的业务场景中，有时需要获取机器人暂存组件上料箱存放状态，比如当机器任务中断重新恢复之后需要告知RMS或上层服务系统，机器人在暂存组件上已取料箱的数量及位置。或者，有时候RMS还需要重新获取在特定的货架位上的料箱存放状态，以供更好地调度机器人执行取还箱任务。此时，待检测存储位可设置为机器人本体设置的暂存组件和位于仓储区域的目标货架位，以便检测暂存组件和货架位上料箱存放情况。其中暂存组件可为暂存托盘，用于临时存放从货架位取出或者向货架位进行存储的料箱。
参见图3，在机器人取还料箱的业务场景中，对于机器人本身而言，有时需要在取还料箱之前，确认机器人本体设置的取放组件上是否有料箱，以及判断目标位置上是否有其他料箱或者障碍物占用，避免机器人取还料箱时出现阻塞或者碰撞，给机器人本身和物品带来损失。此时，待检测存储位可设置为机器人本体上设置的取放组件，以便检测取放组件上料箱存放情况。其中取放组件可用于从待存储位上取出料箱或者向待存储位上放入料箱。
参见图1与图2，在机器人的取放组件120上安装有检测组件130，当需要机器人对待 检测存储位上料箱存放情况进行检测时，取放组件120上安装的检测组件130的检测方向能够对准待检测存储位并进行数据采集，并将采集的数据采集结果发送给主控处理单元110。进而，主控处理单元110会依据数据采集结果判断待检测存储位是否放置有料箱，便于机器人控制取放组件取放料箱。
根据本公开实施例中提供的机器人方案，在机器人正常取还箱或者人为干涉料箱的场景下，通过机器人上检测组件进行实时检测都能获知料箱的位置状态，以避免机器人取还箱异常；同时，还可在调度系统无法准确记录料箱位置和存放状态无法调度机器人执行取还箱任务时，及时上报料箱的存放情况给调度系统便于调度，提高系统的效率和可靠性。
在本公开的实施例的一种可选方案中，可以与上述一个或者多个实施例中各个可选方案结合。参见图4，在本申请实施例的机器人100中，检测组件130可包括第一检测组件1301，待检测存储位为机器人本体上设置的暂存组件和位于仓储区域的目标货架位。其中：
主控处理单元110配置为，控制取放组件120进行移动调整，用以带动调整第一检测组件1301的检测方向对准待检测存储位。
第一检测组件1301配置为，在调整第一检测组件1301的检测方向后，沿检测方向对准待检测存储位进行数据采集。
参见图2与图4，第一检测组件1301设置于取放组件120上，取放组件120与机器人上暂存组件和位于仓储区域的目标货架位相互独立，使得第一检测组件1301的位置可能并不临近暂存组件和目标货架位。主控处理单元110通过控制取放组件120进行移动调整，同步带动第一检测组件1301进行移动调整，以使第一检测组件1301的检测方向能够对准待检测存储位，即对准暂存组件和位于仓储区域的目标货架位。进而，移动调整检测方向后的第一检测组件1301可沿检测方向对准待检测存储位进行数据采集。
在一些实施例中，参见图2、图3与图4，在本申请实施例的机器人100中，机器人上设置有多个不同高度的隔层，且不同隔层之间的高度可以相同或不同，一个隔层对应设置一个暂存组件，在一个暂存组件上允许存放一个料箱。其中料箱可为用于盛放各种物品的存储容器。
在本公开的实施例的一种可选方案中，可以与上述一个或者多个实施例中各个可选方案结合。参见图4与图5，在本公开的实施例的机器人100中，第一检测组件1301的检测方向平行于机器人上取放组件120的水平旋转面，第一检测组件1301的检测方向与取放组件120上的预设标定方向保持相同。其中：
主控处理单元110配置为，在控制取放组件120移动到待检测存储位正对侧的情况下，控制取放组件120进行水平旋转调整和/或高度调整。
参见图2与图5，对于机器人本体设置的暂存组件和仓储区域的目标货架位，会预先记 录各个暂存组件和目标货架位的空间位置。主控处理单元110可依据接收的检测指令携带的待检测存储位的位置信息，控制机器人的取放组件120移动到待检测存储位的正对侧。通过对取放组件进行定位调整，让取放组件120与待检测存储位在空间位置上正对邻近，实现取放组件120与待检测存储位平齐或稍高于待检测存储位。
参见图5，考虑到机器人上取放组件取放方向、机器人本体所在运行区域平坦性以及取放组件移动调整过程中的误差问题，可能出现取放组件120上安装的第一检测组件1301的检测方向和/或高度不合适的情况，会造成第一检测组件1301的检测方向无法朝向待检测存储位内侧上方，例如第一检测组件1301的检测方向朝向待检测存储位下方或者朝向待检测存储位的外侧，进而导致无法在待检测存储位上进行数据采集。为此，在取放组件移动到待检测存储位正对侧的情况下，通过控制取放组件120水平旋转调整，同步带动第一检测组件1301的检测方向进行水平旋转；以及，通过控制取放组件120高度调整，同步带动取放组件120上第一检测组件1301的检测方向进行上下高度调整。
在一些实施例中，参见图4与图5，在本公开的实施例的机器人100中，机器人100的取放组件120的两侧分别安装有一伸叉部件，预设标定方向可为设置于机器人100的取放组件120一侧的伸叉部件的伸叉方向。在一些实施例中，机器人100的取放组件可包括允许水平旋转和高度调整的旋转托盘。
在本公开的实施例的一种可选方案中，可以与上述一个或者多个实施例中各个可选方案结合。参见图4与图5，在本公开的实施例的机器人100中，第一检测组件1301设置在取放组件120一侧的伸叉部件上，且取放组件120的取放口宽度L1大于待检测存储位上进行取放的料箱的尺寸L0。其中：
主控处理单元110具体配置为，依据取放组件120的有效旋转角度，控制取放组件120进行至少一次水平旋转调整，以带动第一检测组件1301在同一平面上调整检测方向。
参见图5，以待检测存储位上放置一个料箱为例，在进行料箱检测前，控制机器人上取放组件120的取放口正对待检测存储位上料箱，当取放组件120距离待检测存储位上料箱的距离为d时，第一检测组件1301发出的检测光束或声波从待检测存储位上料箱外侧间隙穿过，无法检测到料箱。因此，在进行料箱检测时，需要将取放组件120旋转一定角度θ，直至第一检测组件1301沿检测方向发出的检测光束或声波照射到料箱上才可。
参见图5，有效旋转角度包括所第一检测组件1301相对旋转参考方向，能使第一检测组件1301的检测方向指向待存储位上料箱的最小旋转角度β2与最大旋转角度β1。其中，旋转参考方向可为在取放组件120的取放口正对待检测存储位时，第一检测组件1301上伸叉部件的伸叉方向。在一些实施例中，第一检测组件1301上伸叉部件的伸叉方向与取放组件120的取放口方向平行。
在本公开的实施例的一种可选方案中，可以与上述一个或者多个实施例中各个可选方案结合。参见图5，在本公开的实施例的机器人100中，有效旋转角度中涉及的最小旋转角度与最大旋转角度基于在第一检测组件1301沿检测方向正对待检测存储位时，第一检测组件1301到待存储位边缘线的垂直距离与待检测存储位所要放置的料箱尺寸或待检测存储位尺寸确定。
参见图5，以检测待检测存储位上料箱存放状态为例，可对取放组件120上第一检测组件1301进行检测方向调整，不难看出，当第一检测组件1301的检测方向分别朝向料箱的左右两个外边侧时，第一检测组件1301沿检测方向发出的检测光束或声波照射到料箱，否则很可能会从待检测存储位上料箱外侧间隙穿过，无法检测到料箱。因此，检测方向分别朝向料箱的左右两个外边侧时对应的角度分别是对应的最小旋转角度与最大旋转角度。
参见图5，以取放组件移动到待检测存储位正对侧的情况下，第一检测组件发出的检测光束或声波与料箱外侧边缘线重合为例，取放组件120的中有效旋转角度最小旋转角度为零，当取放组件120旋转到最小旋转角度和最大旋转角度时，取放组件120的旋转角度范围为[0，arctan(L 0/d)]，第一检测组件1301沿检测方向发出的检测光束或声波所得到的测距范围为[d，(d 2+L 0 2) 1/2]。在进行料箱检测时，可控制取放组件旋转使得第一检测组件1301的检测方向转到[0，arctan(L 0/d)]之间的某一角度，检测此时第一检测组件130的测距距离L，如果测距距离L在[d,(d 2+L 0 2) 1/2]范围之内，则说明待检测存储位上有料箱，否则，超过此范围则无料箱。
在一些实施例中，参见图5，在本公开的实施例的机器人100中，有效旋转角度中涉及的相对旋转参考方向的最小旋转角度与最大旋转角度，是在设定料箱位于正对侧情况下所推出的角度范围。但是，本公开的实施例实际场景中是检测待检测存储位上是否存在料箱，可见无法控制取放组件与料箱正对，仅能控制取放组件移动到待检测存储位的正对侧；一旦料箱与取放组件不正对(料箱在待检测存储位置存在一定斜度)，那么上述推出的有效角度范围中存在一些角度无法使得第一检测组件沿检测方向发出的检测光束或声波一次就能照射到料箱待存储位上料箱，需要多次调整。因此，在依据取放组件的有效旋转角度制取放组件进行水平旋转调整时，可从有效旋转角度范围中选取位于中间范围的角度来控制取放组件进行水平旋转调整，因为无论待检测存储位中料箱放置角度如何，有效角度范围中位于中间范围的旋转角度通常均能保证第一检测组件沿检测方向发出的检测光束或声波一次照射到料箱，避免取放组件多次水平旋转。
在本公开的实施例的另一种可选方案中，可以与上述一个或者多个实施例中各个可选方案结合。参见图4、图5与图6，在本公开的实施例的机器人100中，第一检测组件1301设置在取放组件120的底部。其中，
主控处理单元110具体配置为，控制取放组件120进行高度调整，使取放组件120的底 部高于待检测存储位且高度差小于预设阈值；以及，控制取放组件120进行水平旋转，带动第一检测组件1301的检测方向对准待检测存储位。
参见图6，在控制取放组件120移动到待检测存储位正对侧的情况下，由于第一检测组件1301设置在取放组件120的底部，只要第一检测组件的高度合适那么第一检测组件沿检测方向发出的检测光束或声波一次就能照射到待检测存储位的料箱上。这样，在第一检测组件1301设置在取放组件120的底部的情况下，此时需要控制取放组件的高度稍高于待检测存储位，例如可为暂存组件或者目标货架位，再对取放组件进行水平旋转，使得第一检测组件的检测方向对对准料箱即可。
在本公开的实施例的一种可选方案中，可以与上述一个或者多个实施例中各个可选方案结合。参见图4，在本申请实施例的机器人100中，第一检测组件1301可为图像识别类传感器或测距类传感器；数据采集结果为第一检测组件1301对准待检测存储位时在检测前方获取的测距信息或图像信息。
在一些实施例中，测距类传感器包括但不限于红外漫反射传感器、可见光传感器、激光传感器以及超声波传感器等，测距类传感器通过向检测前方发射光束或声波，计算往返的时间进而得到距离前方障碍物的距离。
在一些实施例中，图像识别类传感器包括但不限于相机、深度相机等，图像识别类传感器通过采集检测前方视野范围内的图像信息，进而通过机器视觉识别检测前方料箱和/或障碍物的存在。
在调整检测方向后的第一检测组件1301沿检测方向对准待检测存储位进行数据采集之后，主控处理单元110可依据第一检测组件1301在检测前方获取的测距信息或图像信息确定待检测存储位上是否存在料箱。例如，在调整取放组件的角度，使得第一检测组件沿检测方向发出的检测光束或声波一次就能照射到待检测存储位以检测到料箱时，读取第一检测组件沿检测方向的测距信息或图像识别的障碍物信息，并依据测距信息或图像识别的障碍物信息确定测距距离是否在预设距离范围或者是否有障碍物来进一步判断待检测存储位上是否有料箱遮挡。进而，将料箱是否存在的信息记录并上报给服务器，并控制取放组件的角度恢复初始角度(如果第一检测组件所在的伸叉部件影响举升，可忽略取放组件的角度恢复操作)，控制取放组件移动到下一待检测存储位正对侧进行下一料箱检测。
在本公开的实施例的一种可选方案中，可以与上述一个或者多个实施例中各个可选方案结合。参见图4，在本申请实施例的机器人100中，检测组件130可包括第二检测组件1302，待检测存储位包括机器人本体上设置的取放组件，第二检测组件1302的检测方向对准取放组件内，这样在料箱进入取放组件进行放置时会靠近取放组件120上设置的第二检测组件1302，从而在第二检测组件1302的检测前方阻挡第二检测组件1302沿检测方向发出的检测 光束或声波。
在一些实施例中，参见图7与图8，第二检测组件1302可包括主从对射传感器，主从对射传感器分别设置于取放组件120的内部两侧，使料箱进入取放组件时阻断主从对射传感器之间的对射通路。在一些实施例中，第二检测组件1302可包括主从对射传感器，主从对射传感器分别设置于取放组件120的两侧的伸叉部件上，以便两侧的伸叉部件回到取放组件后能使进入取放组件的料箱阻断主从对射传感器之间的对射通路。
参见图7与图8，第二检测组件1302沿检测方向对准待检测存储位进行数据采集得到的数据采集结果可包括第二检测组件1302对准待检测存储位时主从对射传感器之间对射通路导通状态。如果待检测存储位上无料箱，则主对射传感器发出的光线不会被阻断，会被从传感器接收到，光线路径导通；反之，如果待检测存储位上有料箱，料箱会遮挡主对射传感器发出的光线，导致光线路径阻断，从对射传感器接收不到主对射传感器发出的光线。
在一些实施例中，参见图7与图9，第二检测组件1302可包括单个测距类传感器，单个测距类传感器设置于正对取放组件120取放口侧的取放组件120内侧，且单个测距类传感器的检测方向与取放组件120的取放口方向一致。在一些实施例中，第二检测组件1302比如单个测距类传感器的安装与取放组件120取放口正对的最内侧侧壁上，该单个测距类传感器的检测方向朝向取放组件120的取放口，且该单个测距类传感器的检测方向与取放组件120内侧壁垂直。
参见图7与图9，第二检测组件1302沿检测方向对准待检测存储位进行数据采集得到的数据采集结果可包括第二检测组件1302对准待检测存储位时在检测前方获取的测距信息。通过测量前方障碍物的测距距离d，如果第二检测组件1302得到的检测前方测距距离d小于取放组件沿取放口方向的长度时，则认为第二检测组件1302的检测前方的预设距离内有料箱遮挡，表明待检测存储位上存在料箱；反之，认为第二检测组件1302的检测前方的预设距离内没有料箱遮挡，表明待检测存储位上不存在料箱。在一些实施例中，单个测距类传感器具体可为单个红外对射传感器。
图10是本公开实施例中提供的一种基于机器人的料箱检测方法的流程示意图。本公开的实施例可适用于机器人对待检测存储位上料箱存放状态进行实时检测的情况。如图10所示，本申请实施例中的基于机器人的料箱检测方法，可以包括以下步骤：
S1010、通过机器人的取放组件上设置的检测组件，沿检测方向对准待检测存储位进行数据采集并发送给机器人上的主控处理单元。
S1020、所述主控处理单元依据所述数据采集结果确定所述待检测存储位上的料箱存放状态，用以控制所述取放组件取放料箱。
在上述实施例的基础上，在一些实施例中，通过机器人的取放组件上设置的检测组件， 沿检测方向对准待检测存储位进行数据采集并发送给机器人上的主控处理单元，包括：
通过所述主控处理单元控制机器人的取放组件进行移动调整，用以带动调整所述检测组件中第一检测组件的检测方向对准所述待检测存储位；其中所述待检测存储位包括机器人本体设置的暂存组件和仓储区域的目标货架位；
在调整所述第一检测组件的检测方向后，所述第一检测组件沿检测方向对准所述待检测存储位进行数据采集。
在上述实施例的基础上，在一些实施例中，所述机器人上设置有多个不同高度的隔层，一个隔层对应设置一个暂存组件。
在上述实施例的基础上，在一些实施例中，在控制所述取放组件进行移动调整之后，还包括：
在控制所述取放组件移动到待检测存储位正对侧的情况下，通过所述主控处理单元控制所述取放组件进行水平旋转调整和/或高度调整；
其中，第一检测组件的检测方向平行于所述取放组件的水平旋转面，所述第一检测组件的检测方向与所述取放组件上的预设标定方向保持相同。
在上述实施例的基础上，在一些实施例中，所述预设标定方向包括设置于所述取放组件一侧的伸叉部件的伸叉方向。
在上述实施例的基础上，在一些实施例中，所述取放组件包括允许水平旋转和高度调整的旋转托盘。
在上述实施例的基础上，在一些实施例中，所述第一检测组件设置在所述取放组件一侧的伸叉部件上；
相应地，控制所述取放组件进行水平旋转调整，包括：
所述主控处理单元依据所述取放组件的有效旋转角度，控制所述取放组件进行至少一次水平旋转调整，以带动所述第一检测组件在同一平面上调整检测方向；
其中，有效旋转角度包括所述第一检测组件相对旋转参考方向，能使所述第一检测组件的检测方向指向待存储位上料箱的最小旋转角度与最大旋转角度；所述旋转参考方向为在所述取放组件的取放口正对待检测存储位时，所述第一检测组件上伸叉部件的伸叉方向。
在上述实施例的基础上，在一些实施例中，所述最小旋转角度与最大旋转角度基于在第一检测组件沿检测方向正对待检测存储位时，所述第一检测组件到待存储位边缘线的垂直距离与待检测存储位所要放置的料箱尺寸或待检测存储位尺寸确定。
在上述实施例的基础上，在一些实施例中，所述第一检测组件设置在所述取放组件的底部；
相应地，控制所述取放组件进行水平旋转调整和高度调整，包括：
所述主控处理单元控制所述取放组件进行高度调整，使所述取放组件的底部高于所述待检测存储位且高度差小于预设阈值；以及，控制所述取放组件进行水平旋转，带动第一检测组件的检测方向对准待检测存储位。
在上述实施例的基础上，在一些实施例中，所述第一检测组件为图像识别类传感器或测距类传感器；
所述数据采集结果为所述第一检测组件对准所述待检测存储位时在检测前方获取的测距信息或图像信息。
在上述实施例的基础上，在一些实施例中，依据所述数据采集结果确定所述待检测存储位上的料箱存放状态，包括：
依据所述第一检测组件在检测前方获取的测距信息或图像信息确定待检测存储位上是否存在料箱。
在上述实施例的基础上，在一些实施例中，所述检测组件包括第二检测组件，所述第二检测组件的检测方向对准所述取放组件内部，待检测存储位包括机器人本体上设置的所述取放组件。
在上述实施例的基础上，在一些实施例中，所述第二检测组件包括主从对射传感器，所述主从对射传感器分别设置于取放组件的内部两侧，使料箱进入所述取放组件时阻断主从对射传感器之间的对射通路。
在上述实施例的基础上，在一些实施例中，所述第二检测组件包括主从对射传感器，所述主从对射传感器分别设置于取放组件的两侧的伸叉部件上。
在上述实施例的基础上，在一些实施例中，所述数据采集结果包括所述第二检测组件对准待检测存储位时主从对射传感器之间对射通路导通状态。
在上述实施例的基础上，在一些实施例中，所述第二检测组件包括单个测距类传感器，所述单个测距类传感器设置于正对所述取放组件取放口侧的取放组件内侧，且所述单个测距类传感器的检测方向与所述取放组件的取放口方向一致。
在上述实施例的基础上，在一些实施例中，所述数据采集结果为所述第二检测组件对准所述待检测存储位时在检测前方获取的测距信息。
本公开实施例中所提供的基于机器人的料箱检测方法可由上述本公开任意实施例中所提供的机器人执行，具备执行该基于机器人的料箱检测方法的机器人的相应的功能和有益效果，未在上述实施例中详尽描述的技术细节，可参见本申请任意实施例中所提供的机器人的运行过程。
本公开实施例中还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述的基于机器人的料箱检测方法。
本公开实施例中还提供了一种计算机程序产品，所述计算机程序产品中包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以执行上述的基于机器人的料箱检测方法。
本公开实施例中还提供了一种计算机程序，所述计算机程序包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以使得计算机执行上述的基于机器人的料箱检测方法。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
注意，上述仅为本公开的较佳实施例及所运用技术原理。本领域技术人员会理解，本公开不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本公开的保护范围。因此，虽然通过以上实施例对本公开进行了较为详细的说明，但是本公开不仅仅限于以上实施例，在不脱离本公开构思的情况下，还可以包括更多其他等效实施例，而本公开的范围由所附的权利要求范围决定。

Claims (37)

  1. 一种机器人，包括：主控处理单元、取放组件以及设置于所述取放组件上的检测组件；其中：
    所述检测组件配置为，沿检测方向对准待检测存储位进行数据采集并发送给所述主控处理单元；
    所述主控处理单元配置为，依据所述数据采集结果确定所述待检测存储位上的料箱存放状态，用以控制所述取放组件取放料箱。
  2. 根据权利要求1所述的机器人，其特征在于，所述检测组件包括第一检测组件，所述待检测存储位包括机器人本体设置的暂存组件和仓储区域的目标货架位；
    所述主控处理单元配置为，控制所述取放组件进行移动调整，用以带动调整所述第一检测组件的检测方向对准所述待检测存储位；
    所述第一检测组件配置为，在调整所述第一检测组件的检测方向后，沿检测方向对准所述待检测存储位进行数据采集。
  3. 根据权利要求2所述的机器人，其特征在于，所述机器人上设置有多个不同高度的隔层，一个隔层对应设置一个暂存组件。
  4. 根据权利要求2所述的机器人，其特征在于，所述第一检测组件的检测方向平行于所述取放组件的水平旋转面，所述第一检测组件的检测方向与所述取放组件上的预设标定方向保持相同；
    所述主控处理单元配置为，在控制所述取放组件移动到待检测存储位正对侧的情况下，控制所述取放组件进行水平旋转调整和/或高度调整。
  5. 根据权利要求4所述的机器人，其特征在于，所述预设标定方向包括设置于所述取放组件一侧的伸叉部件的伸叉方向。
  6. 根据权利要求4所述的机器人，其特征在于，所述取放组件包括允许水平旋转和高度调整的旋转托盘。
  7. 根据权利要求4所述的机器人，其特征在于，所述第一检测组件设置在所述取放组件一侧的伸叉部件上；
    所述主控处理单元具体配置为，依据所述取放组件的有效旋转角度，控制所述取放组件进行至少一次水平旋转调整，以带动所述第一检测组件在同一平面上调整检测方向；
    其中，有效旋转角度包括所述第一检测组件相对旋转参考方向，能使所述第一检测组件的检测方向指向待存储位上料箱的最小旋转角度与最大旋转角度；所述旋转参考方向为在所述取放组件的取放口正对待检测存储位时，所述第一检测组件上伸叉部件的伸叉方向。
  8. 根据权利要求7所述的机器人，其特征在于，所述最小旋转角度与最大旋转角度基于在第一检测组件沿检测方向正对待检测存储位时，所述第一检测组件到待存储位边缘线的垂直距离与待检测存储位所要放置的料箱尺寸或待检测存储位尺寸确定。
  9. 根据权利要求4所述的机器人，其特征在于，所述第一检测组件设置在所述取放组件的底部；
    所述主控处理单元具体配置为，控制所述取放组件进行高度调整，使所述取放组件的底部高于所述待检测存储位且高度差小于预设阈值；以及，控制所述取放组件进行水平旋转，带动第一检测组件的检测方向对准待检测存储位。
  10. 根据权利要求2所述的机器人，其特征在于，所述第一检测组件为图像识别类传感器或测距类传感器；
    所述数据采集结果为所述第一检测组件对准所述待检测存储位时在检测前方获取的测距信息或图像信息。
  11. 根据权利要求10所述的机器人，其特征在于，所述主控处理单元具体配置为，依据所述第一检测组件在检测前方获取的测距信息或图像信息确定待检测存储位上是否存在料箱。
  12. 根据权利要求1至11中任一项所述的机器人，其特征在于，所述检测组件包括第二检测组件，所述第二检测组件的检测方向对准所述取放组件内部，待检测存储位包括机器人本体上设置的所述取放组件。
  13. 根据权利要求12所述的机器人，其特征在于，所述第二检测组件包括主从对射传感器，所述主从对射传感器分别设置于取放组件的内部两侧，使料箱进入所述取放组件时阻断主从对射传感器之间的对射通路。
  14. 根据权利要求12所述的机器人，其特征在于，所述第二检测组件包括主从对射传感器，所述主从对射传感器分别设置于所述取放组件的两侧的伸叉部件上。
  15. 根据权利要求13所述的机器人，其特征在于，所述数据采集结果包括所述第二检测组件对准待检测存储位时主从对射传感器之间对射通路导通状态。
  16. 根据权利要求12所述的机器人，其特征在于，所述第二检测组件包括单个测距类传感器，所述单个测距类传感器设置于正对所述取放组件的取放口侧的取放组件内侧，且所述单个测距类传感器的检测方向与所述取放组件的取放口方向一致。
  17. 根据权利要求16所述的机器人，其特征在于，所述数据采集结果为所述第二检测组件对准所述待检测存储位时在检测前方获取的测距信息。
  18. 一种基于机器人的料箱检测方法，所述方法包括：
    通过机器人的取放组件上设置的检测组件，沿检测方向对准待检测存储位进行数据采集 并发送给机器人上的主控处理单元；
    所述主控处理单元依据所述数据采集结果确定所述待检测存储位上的料箱存放状态，用以控制所述取放组件取放料箱。
  19. 根据权利要求18所述的检测方法，其特征在于，通过机器人的取放组件上设置的检测组件，沿检测方向对准待检测存储位进行数据采集并发送给机器人上的主控处理单元，包括：
    通过所述主控处理单元控制机器人的取放组件进行移动调整，用以带动调整所述检测组件中第一检测组件的检测方向对准所述待检测存储位；其中所述待检测存储位包括机器人本体设置的暂存组件和仓储区域的目标货架位；
    在调整所述第一检测组件的检测方向后，所述第一检测组件沿检测方向对准所述待检测存储位进行数据采集。
  20. 根据权利要求19所述的检测方法，其特征在于，所述机器人上设置有多个不同高度的隔层，一个隔层对应设置一个暂存组件。
  21. 根据权利要求19所述的检测方法，其特征在于，在控制所述取放组件进行移动调整之后，还包括：
    在控制所述取放组件移动到待检测存储位正对侧的情况下，通过所述主控处理单元控制所述取放组件进行水平旋转调整和/或高度调整；
    其中，第一检测组件的检测方向平行于所述取放组件的水平旋转面，所述第一检测组件的检测方向与所述取放组件上的预设标定方向保持相同。
  22. 根据权利要求21所述的检测方法，其特征在于，所述预设标定方向包括设置于所述取放组件一侧的伸叉部件的伸叉方向。
  23. 根据权利要求21所述的检测方法，其特征在于，所述取放组件包括允许水平旋转和高度调整的旋转托盘。
  24. 根据权利要求21所述的检测方法，其特征在于，所述第一检测组件设置在所述取放组件一侧的伸叉部件上；
    相应地，控制所述取放组件进行水平旋转调整，包括：
    所述主控处理单元依据所述取放组件的有效旋转角度，控制所述取放组件进行至少一次水平旋转调整，以带动所述第一检测组件在同一平面上调整检测方向；
    其中，有效旋转角度包括所述第一检测组件相对旋转参考方向，能使所述第一检测组件的检测方向指向待存储位上料箱的最小旋转角度与最大旋转角度；所述旋转参考方向为在所述取放组件的取放口正对待检测存储位时，所述第一检测组件上伸叉部件的伸叉方向。
  25. 根据权利要求24所述的检测方法，其特征在于，所述最小旋转角度与最大旋转角 度基于在第一检测组件沿检测方向正对待检测存储位时，所述第一检测组件到待存储位边缘线的垂直距离与待检测存储位所要放置的料箱尺寸或待检测存储位尺寸确定。
  26. 根据权利要求21所述的检测方法，其特征在于，所述第一检测组件设置在所述取放组件的底部；
    相应地，控制所述取放组件进行水平旋转调整和高度调整，包括：
    所述主控处理单元控制所述取放组件进行高度调整，使所述取放组件的底部高于所述待检测存储位且高度差小于预设阈值；以及，控制所述取放组件进行水平旋转，带动第一检测组件的检测方向对准待检测存储位。
  27. 根据权利要求19所述的检测方法，其特征在于，所述第一检测组件为图像识别类传感器或测距类传感器；
    所述数据采集结果为所述第一检测组件对准所述待检测存储位时在检测前方获取的测距信息或图像信息。
  28. 根据权利要求27所述的检测方法，其特征在于，依据所述数据采集结果确定所述待检测存储位上的料箱存放状态，包括：
    依据所述第一检测组件在检测前方获取的测距信息或图像信息确定待检测存储位上是否存在料箱。
  29. 根据权利要求18至28中任一项所述的检测方法，其特征在于，所述检测组件包括第二检测组件，所述第二检测组件的检测方向对准所述取放组件内部，待检测存储位包括机器人本体上设置的所述取放组件。
  30. 根据权利要求29所述的检测方法，其特征在于，所述第二检测组件包括主从对射传感器，所述主从对射传感器分别设置于取放组件的内部两侧，使料箱进入所述取放组件时阻断主从对射传感器之间的对射通路。
  31. 根据权利要求29所述的检测方法，其特征在于，所述第二检测组件包括主从对射传感器，所述主从对射传感器分别设置于所述取放组件的两侧的伸叉部件上。
  32. 根据权利要求30所述的检测方法，其特征在于，所述数据采集结果包括所述第二检测组件对准待检测存储位时主从对射传感器之间对射通路导通状态。
  33. 根据权利要求29所述的检测方法，其特征在于，所述第二检测组件包括单个测距类传感器，所述单个测距类传感器设置于正对所述取放组件取放口侧的取放组件内侧，且所述单个测距类传感器的检测方向与所述取放组件的取放口方向一致。
  34. 根据权利要求33所述的检测方法，其特征在于，所述数据采集结果为所述第二检测组件对准所述待检测存储位时在检测前方获取的测距信息。
  35. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器 执行时实现权利要求18至34中任一项所述的基于机器人的料箱检测方法。
  36. 一种计算机程序产品，其特征在于，所述计算机程序产品中包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以执行权利要求18至34中任一项所述的基于机器人的料箱检测方法。
  37. 一种计算机程序，其特征在于，所述计算机程序包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以使得计算机执行权利要求18至34中任一项所述的基于机器人的料箱检测方法。
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