CN108698225B - Method and robot for stacking goods by robot - Google Patents
Method and robot for stacking goods by robot Download PDFInfo
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- CN108698225B CN108698225B CN201780006693.7A CN201780006693A CN108698225B CN 108698225 B CN108698225 B CN 108698225B CN 201780006693 A CN201780006693 A CN 201780006693A CN 108698225 B CN108698225 B CN 108698225B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1656—Program controls characterised by programming, planning systems for manipulators
- B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1694—Program 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
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Abstract
一种机器人码放货物的方法及机器人(10)，该机器人码放货物的方法包括：通过传感器(102)获取传感参数；控制机器人(10)的末端执行器(101)趋近目标状态，若所述传感参数符合预设条件，则控制所述末端执行器(101)执行获持操作或放置操作。机器人码放货物的方法及机器人可在码放货物时准确完成货物的放置、获持，堆放稳定，节约放置空间。
A method for stacking goods by a robot and a robot (10), the method for stacking goods by a robot comprises: acquiring sensing parameters through a sensor (102); controlling an end effector (101) of the robot (10) to approach a target state, if all If the sensing parameters meet the preset conditions, the end effector (101) is controlled to perform a holding operation or a placing operation. The method for stacking goods by the robot and the robot can accurately complete the placement and holding of the goods when stacking the goods, the stacking is stable, and the storage space is saved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a method for stacking goods by a robot and the robot.
Background
The rapid development of science and technology brings the change of turning over the ground for the life of people, and simultaneously, the working efficiency of enterprises is also improved. The rapid development of electronic commerce also puts forward unprecedented speed-increasing requirements on domestic warehouse logistics. The concept of the application of intelligent robots to logistics has also been gradually mentioned and multi-directional research has been developed. Among them, how to maintain the stability of the loaded and unloaded goods and the quality of the stacked goods in the loading, unloading and transporting directions of the goods becomes an important technical problem.
In the prior art, generally, during the loading and unloading process of a robot, goods are stacked at a designated position. However, based on the field of the current robot, mechanical errors and calculation errors inevitably exist in hardware equipment, in the actual operation process, the placement of goods cannot be accurately completed, the distance between the goods is large or small, the goods are uneven, the goods are easy to stack unstably, collapse of the stacked goods is caused, and the requirement of stacking quality is difficult to achieve. Meanwhile, the waste of placing space is caused, and the requirement of stacking rate is difficult to achieve. In addition, based on the particularity of the logistics storage field, one difficulty of the application of the robot is that the robot is influenced by different shapes, sizes and weights of goods, and the high-quality and high-efficiency stacking requirement is more difficult to meet.
Therefore, how to solve the problem of accurate acquisition and placement in the robot field and further apply the robot to the logistics storage field to effectively stack goods is a problem to be solved urgently.
Disclosure of Invention
The invention provides a method for stacking goods by a robot and the robot, aiming at executing placing or holding operation according to sensing parameters of a sensor when the robot approaches a target position for placing or holding the goods. Thereby solving the problem that the holding and placing can not be accurately carried out.
The first aspect of the embodiments of the present invention provides a method for stacking goods by a robot, where the robot includes an end effector disposed at an operation end of the robot, and the method includes: continuously acquiring sensing parameters through a sensor; and controlling the end effector of the robot to approach a target state, and controlling the end effector to execute holding or placing operation if the sensing parameters meet preset conditions.
A second aspect of an embodiment of the present invention provides a robot, including: an end effector provided at an operation end of the robot; the sensor is used for acquiring sensing parameters; the robot stacking method includes the steps of storing a plurality of articles in a storage device, storing the articles in the storage device, and executing a computer program stored in the storage device and capable of running on the processor.
According to the embodiment of the invention, the end effector of the robot is controlled to approach the target state, the sensor continuously acquires the sensing parameter, and the robot is controlled to place or hold the goods according to the continuously acquired sensing parameter, so that the robot can accurately complete the holding and placing operations.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic application environment diagram of a method for stacking goods by a robot according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an implementation of a method for stacking goods by a robot according to a first embodiment of the present invention;
fig. 3 is a schematic flow chart of an implementation of a method for stacking goods by a robot according to a second embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for stacking goods by a robot according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of a robot according to a fourth embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
For the convenience of understanding, the following description will be made in conjunction with a specific application environment example in the field of logistics storage to describe a scheme for accurate acquisition and placement of the robot of the present invention.
Referring to fig. 1, fig. 1 is a schematic view of an application environment of a method for stacking goods by a robot according to an embodiment of the present invention. The robot 10 performs data interaction with the server 80 in a wired or wireless manner, and proceeds to the cargo compartment 30 to perform unloading or loading operation according to an instruction sent by the server 80. For example: cargo 60 is loaded into the cargo hold 30 from a location external to the cargo hold 30 or on the conveyor 40. Alternatively, the cargo 60 is unloaded from the cargo hold 30 onto the conveyor 40 or carried to a location outside of the cargo hold 30. The robot 10 may be a single robot, or may be a robot cluster including a plurality of robots. Specifically, the robot 10 includes a robotic arm and an end effector coupled to an operative end of the robotic arm. End effectors include, but are not limited to, suction cups, manipulators, and clamping devices. The manipulator comprises a dexterous hand.
Referring to fig. 2, fig. 2 is a schematic flow chart illustrating an implementation of a method for stacking goods by a robot according to a first embodiment of the present invention, where the method includes the following steps:
s201, acquiring sensing parameters through a sensor.
S202, controlling the end effector of the robot to approach a target state, and controlling the end effector to execute holding or placing operation if the sensing parameters meet preset conditions.
In this embodiment, the sensor may include, but is not limited to: the sensor comprises one or more of a visual sensor, a distance measuring sensor, a proximity sensor, a touch sensor, a vacuum sensor, a force feedback sensor, a torque sensor and a force and torque sensor. The target state includes a target position and/or a target pose.
Specifically, the target state includes a first target state corresponding to performing the placing operation or a second target state corresponding to performing the obtaining operation. Correspondingly, when the end effector of the control robot approaches the first target state, if the sensing parameter meets the first preset condition, the placing operation is executed to place the goods to be placed. And when the end effector of the control robot approaches a second target state, if the sensing parameters meet a second preset condition, executing a holding operation to hold the goods to be held.
In the embodiment of the invention, in the process of approaching the target state, the sensor acquires the sensing parameter, and the robot is controlled to place or hold the goods according to the sensing parameter. So that the robot can accurately complete the placing and holding of the goods. When using and logistics storage field, especially be used for sign indicating number goods scheme, can realize that the distance of putting between the goods is appropriate, place neatly, practice thrift and place the space, the goods is stacked stably. When unloading, can stably and effectively accomplish the task of unloading.
Referring to fig. 3, fig. 3 is a schematic flow chart illustrating an implementation of a method for stacking goods by a robot according to a second embodiment of the present invention. The present embodiment is explained from the viewpoint of placing goods, and as shown in fig. 3, the method includes the steps of:
s301, acquiring sensing parameters through a sensor;
s302, planning a first execution path from the current state to a third target state of the end effector according to the first target state and the current state of the end effector, wherein the third target state has a first distance from the first target state;
s304, controlling the end effector to reach a third target state according to the first execution path;
s305, when the end effector is controlled to approach the first target state, if the sensing parameter meets a first preset condition, the end effector is controlled to execute the operation of placing the held goods to be placed.
The first target state corresponds to performing a placing operation. A first execution path from the current state to a third target state at a first distance from the first target state of the end effector is planned based on the first target state of the cargo and the current state of the end effector. And after the end effector of the robot is controlled to reach the third target state according to the first execution path, the end effector approaches the first target state, and when the sensing parameters meet a first preset condition, the end effector is controlled to place the goods to be placed. The current state of the end effector includes a current position and/or a current pose at which the cargo to be placed has been held.
The third target state is a feasible position and/or feasible attitude that is close to the first target state. The first target state is approached by the third target state. And in the approaching process, judging whether to execute the placing operation or not by combining the sensing parameters of the sensor. For example, in the application scenario of logistics storage, the robot that has already acquired the goods to be placed judges, according to the force and moment sensors, that the acquired goods to be placed do not contact the spatial position of any surface, including the ground, the bulkhead, the wall surface, and the goods that have been stacked on the lower side, the left side, the right side, and the rear side, and the like, then when the end effector gradually approaches the first target state, the goods to be placed contact the lower bearing surface, such as the aforementioned ground, the bottom surface of the bulkhead, the goods below, and the like, and an external force is generated, it is proved that the pre-placed bottom surface has been contacted, and the judgment condition for the robot to place the goods to be placed can be used as the judgment condition for the robot to place the goods loosely. Of course, in a scene where goods or obstacles are also present near the bottom surface or other surfaces, the robot may determine whether to place the goods or not, and may determine that external force is generated on the rear side and the lower side of the goods, or external force is generated on the left side or the right side, and it may be determined that the goods or the obstacles are closely stacked. However, the external force generated by the other sides such as the left side and the right side may also be used as an adjustment parameter, for example, when the external force generated by the left side is detected in the process of approaching the target position, it is indicated that the cargo needs to be placed after moving to the right.
Optionally, the external force is detected by a sensor, and external force parameters are obtained. The sensing parameters comprise external force parameters acquired by the sensor. The first preset condition includes: the external force parameter belongs to a first region parameter. The area range of the first area parameter can be flexibly set according to the constraint condition of the scene requirement. For example, the external force parameter obtained by the sensor when the external force is detected in the direction corresponding to the first target state in the area range can be set. The external force parameter may be acquired by the sensor when the external force is detected in a direction corresponding to the approach direction to the first target state. The external force parameter acquired by the sensor when the external force is detected in a specific direction and is greater than an external force value can also be used. It is understood that the specific direction may include a constraint condition of multiple directions, and under the constraint condition, the range of the external force parameter which meets the requirement and is obtained by the sensor is the first region parameter. The first area parameter is a sensing parameter corresponding to the first target state and set according to the specific application scene. For example, the first target state required by the scene includes the placement position and the placement posture of the goods to be placed, and in the process of approaching the first target state, the compactness requirement of stacking the goods is met, and then the placing can be performed. In this example, whether the cargo is touched or not can be judged by detecting the reaction force of other cargo or the bulkhead on the cargo, and even if the reaction force reaches a certain range, the sensing parameter region meeting the tightness requirement is the first region parameter required by the scene. And in the process of approaching the first target state, if the sensing parameter belongs to the first region parameter corresponding to the first target state, performing placement. For example, the first area parameter corresponds to a reaction force of any one or more of the bottom side, the rear side, the left side and the right side of the cargo to be placed, such as a bulkhead contacting other cargo, the ground or the cargo compartment, and the like, to generate a reaction force to the cargo, and further, a reaction force to a sensor connected to the end effector is generated by the end effector holding the cargo to be placed. This connection includes both direct and indirect connections.
Optionally, the sensor may comprise: the Force feedback Sensor and/or the Torque Sensor may also be Force/Torque Sensor. The sensor may be located at a joint where the robotic manipulation end is coupled to the end-effector, or may be located directly on the end-effector.
Force sensors (Force sensors) are devices that convert the magnitude of a Force into a related electrical signal. Forces are the direct cause of the change in motion of the material. Force and moment sensors (Force/Torque sensors) are used to measure the interaction Force and Torque between a support and a supported object. May be provided at the joint where the robotic manipulation end is attached to the end effector.
Further, the sensor further comprises: a vision sensor.
In another embodiment of the present invention, the movable space where the end effector holds the goods to be placed when the end effector approaches the first target state may be obtained by the visual sensor. The sensing parameters may include: the movable space of the first target state is approached by the goods to be placed, which are obtained by the vision sensor. Specifically, the Vision sensor includes a three-dimensional image pickup device such as a color Depth (RGBD, RGB Depth) device, Binocular Stereo Vision (Binocular Stereo Vision). The sensing parameter is spatial data acquired by the three-dimensional camera device. A two-dimensional imaging device may be combined with a depth sensing device to obtain a two-dimensional image and depth data, i.e., spatial data.
The sensing parameter meets the first preset condition that the movable space belongs to a preset first space range. That is, when the end effector of the robot is controlled to obtain that the goods to be placed approach the first target state, if the movable space of the goods to be placed, which is obtained by the vision sensor and approaches the first target state, belongs to the preset first space range, the robot places the goods to be placed.
Further, the sensor further comprises: and a distance measuring sensor.
In another embodiment of the present invention, a first distance that the goods to be placed approach to other objects may be detected by the distance measuring sensor. The sensing parameters may include the distance from the ranging sensor to the other object to which the goods to be placed approach, and the sensing parameters meet a first preset condition that the distance from the goods to be placed to the other object to which the goods to be placed approach belongs to a preset first threshold range. That is, when the end effector of the robot is controlled to obtain that the goods to be placed approach the first target state, if the distance, detected by the distance measuring sensor, of the goods to be placed approaching other objects belongs to the preset first threshold range, the robot places the goods to be placed.
In general, a range sensor may obtain one-dimensional data. When three distance measuring sensors are provided, the normal vector of the measuring and calculating surface can be calculated. And then the distance between the end effector and the measuring and calculating surface can be measured and calculated according to the normal vector. And further, the posture of the end effector can be adjusted to accurately approach.
It should be noted that, in the process of approaching the first target state through the visual sensor, if the detected object exceeds the detection range of the visual sensor, the distance sensor may also measure the sensing parameters required by the scene, such as the distance between the goods to be placed and other goods.
Further, the sensor also includes a proximity sensor.
In another embodiment of the present invention, the first proximity data of the goods to be placed and the other objects approaching thereto may be detected by the proximity sensor. The sensing parameters can include first proximity data of the goods to be placed and other objects approaching the goods detected by the proximity sensor, and the sensing parameters meet a first preset condition that the first proximity data belong to a preset third threshold range. That is, when the end effector of the robot is controlled to obtain that the goods to be placed approach the first target state, if the first approach data of the goods to be placed and the approach other objects belong to the preset third threshold range, the robot places the goods to be placed.
The proximity sensor may be used to detect a specific proximity parameter or may be used only to detect whether proximity data is generated. When the proximity sensor detects whether proximity data is generated, the positions of the proximity sensor and the robot may be set according to detection parameters of the proximity sensor. For example, if the proximity distance is 55mm, proximity to 55mm or less generates proximity data, and otherwise, no data is generated. The proximity sensor is disposed at a position where the distance from the end effector to the load falls within 55mm in a state where the end effector can hold the load. Then, when the end effector approaches the second target state, the proximity sensor generates proximity data, which represents that the end effector is in a state of being able to hold the goods, and then the holding is executed.
Further, the sensor also includes a tactile sensor.
In another embodiment of the present invention, the contact data of the end effector and the goods to be placed can be obtained by the touch sensor. The sensing parameters include contact data of the end effector with the goods to be placed. The sensing parameter meets a first preset condition, which comprises the following steps: the sensing parameter detected by the tactile sensor belongs to the third area parameter. And when the end effector of the robot is controlled to approach the first target state, if the sensing parameter detected by the touch sensor is detected to belong to the third area parameter, placing the goods to be placed. The third area is the combination of the sensing parameters acquired by all the touch sensors corresponding to the first target state and set according to the specific application scene. For example, the first target state required by the scene includes a placement position and a placement posture of the goods to be placed, and in the process of approaching the first target state, if the acquired contact data meets the tightness requirement for stacking the goods, the placing may be performed. In this example, whether the goods are contacted or not can be judged by detecting the reaction force of other goods or bulkheads on the goods, and even if the reaction force reaches a certain range, the sensing parameter meeting the tightness requirement is the sensing parameter of the third area under the constraint of the scene requirement, which is the sensing parameter detected by the sensor. And in the process of approaching the first target state, if the sensing parameter falls into the sensing parameter range of the third area corresponding to the first target state, performing placement. For example, the third area parameter corresponds to a reaction force of any one or more of the bottom side, the rear side, the left side and the right side of the cargo to be placed, such as a bulkhead contacting other cargo, the ground or the cargo compartment, and the like, to generate a reaction force to the cargo, and further generate a reaction force to a tactile sensor connected to the end effector by the end effector holding the cargo to be placed. In particular, the tactile sensor may be disposed in an area that is in contact with the cargo when the end effector is holding the cargo.
Further, the tactile sensor may also detect the distribution of force. The setting of the third region may also include a contact data definition of an end effector contact profile with the cargo. For example, when the end effector is a robot arm, the touch sensor is disposed in a region where each finger of the robot arm contacts the goods. The setting of the third area includes a contact data range defined by the contact distribution of each finger with the goods. It is assumed that the contact distribution is defined such that the contact area of each finger with the goods is larger than the first area. It will be appreciated that the specific contact data range of the third region may also include a definition of the magnitude of the force, depending on the scene requirements.
In another embodiment of the present invention, the end effector of the robot includes a suction cup. The sensor may also include a vacuum sensor, and the sensed parameter includes a negative pressure parameter. The first preset condition includes that the value of the negative pressure parameter produces a preset fluctuation. The preset fluctuation corresponds to the contact of the goods on the placing surface, such as the contact with other goods, the ground or bulkheads of the cargo holds, and the like, the reaction force on the goods is generated, further, the negative pressure intensity change is generated on the vacuum sensor connected with the end effector by the sucking disc for holding the goods to be placed, and when the change meets the preset fluctuation, the first preset condition is met, namely, the placing operation is executed.
In the embodiment of the invention, in the process of approaching the target state, the sensor obtains the sensing parameter, and the robot is controlled to place goods according to the sensing parameter. So that the robot can accurately complete the placement of the goods. When using and logistics storage field, especially be used for sign indicating number goods scheme, can realize that the distance of putting between the goods is appropriate, place neatly, practice thrift and place the space, the goods is stacked stably. When unloading, can stably and effectively accomplish the task of unloading.
Referring to fig. 4, fig. 4 is a schematic flow chart illustrating an implementation of a method for stacking goods by a robot according to a third embodiment of the present invention. The present embodiment is illustrated from the perspective of holding goods, and as shown in fig. 4, the method comprises the steps of:
s401, acquiring sensing parameters through a sensor.
S402, planning a second execution path from the current state to a fourth target state of the end effector according to the second target state and the current state of the end effector, wherein the fourth target state and the second target state have a second distance;
s403, controlling the end effector to reach a fourth target state according to the second execution path;
and S404, when the end effector approaches the second target state, if the sensing parameter meets a second preset condition, controlling the end effector to execute the operation of holding the goods to be held.
It should be noted that, according to the target state to be held by the cargo and the current state of the end effector, including according to the second target state and the current state of the end effector, a second execution path from the current state to a fourth target state having a second distance from the second target state is planned. And after the end effector of the robot is controlled to reach a fourth target state according to the second execution path, the second target state is approached, and when the sensing parameters meet a second preset condition, the end effector is controlled to obtain the obtained goods. The current state of the end effector includes a current position and/or a current pose of the end effector. The fourth target state is a feasible position and/or feasible attitude that is close to the second target state. The second target state is approached by reaching a fourth target state.
Specifically, the acquiring of the sensing parameter by the sensor includes: and detecting the external force through a sensor to obtain external force parameters. Then, the second preset condition includes: the external force parameter belongs to the second region parameter. The second area parameter is a sensing parameter corresponding to the second target state and set according to the specific application scene. For example, the second target state required by the scene includes a holding position and a holding posture for receiving the goods to be held, and in the process of approaching the second target state, if the end effector is in contact with the goods to be held, the holding can be performed. In this example, whether the end effector contacts the goods to be held may be detected, and even if the acting force with the goods to be held reaches a certain range, the sensing parameter region that meets the holding requirement, that is, the second region parameter, may be set. And in the process of approaching the second target state, if the sensing parameter belongs to the second area parameter corresponding to the second target state, executing the acquisition. For example, the second area parameter corresponds to contact with or even pressing of the object to be held, and the object to be held generates a reaction force against the end effector and further a sensor connected to the end effector to acquire the sensing parameter. This connection includes both direct and indirect connections.
Wherein, the sensor can include: the Force feedback Sensor and/or the Torque Sensor can also be a Force/Torque Sensor. The sensor may be located at a joint that operably couples the end effector to the end effector, or may be located directly on the end effector.
Further, the sensor includes: a vision sensor. In particular, the vision sensor comprises a three-dimensional camera device, such as a color depth device, binocular stereo vision. The sensing parameter is spatial data acquired by the three-dimensional camera device. A two-dimensional imaging device may be combined with a depth sensing device to obtain a two-dimensional image and depth data, i.e., spatial data.
In another embodiment of the present invention, the relative status of the end effector and the goods to be held is obtained by the visual sensor. The sensing parameters may include: the relative position of the end effector and the cargo to be held. The second preset condition includes: the relative state of the end effector and the goods to be held belongs to a preset holding state. For example, when the second target state is an initial holding position and/or holding posture for holding the to-be-held item. When the end effector of the robot is controlled to approach a second target state, namely approach the goods to be held, more accurate space data of the goods to be held is obtained according to the visual data obtained by the visual sensor, and then an optimized holding position and/or holding posture can be obtained. And when the end effector is in the optimized holding position and/or holding posture, the goods to be held is held.
Further, the sensor further comprises: and a distance measuring sensor.
In another embodiment of the present invention, a second distance between the end effector and the goods to be held is obtained by the distance measuring sensor. The second predetermined condition is that the second distance falls within a second threshold range within which the end effector can hold the cargo to be held. That is, when the end effector of the robot is controlled to approach the goods to be held, that is, to approach the second target state, if the distance to the goods to be held is determined according to the sensing parameter of the distance measuring sensor, and if the distance belongs to the execution threshold range in which the end effector can hold the goods to be held, the goods to be held is held. The execution threshold range includes contact with the goods to be held and also includes a non-contact state. For example, when the end effector is a suction cup, the distance between the suction cup and the goods to be held may fall within the suction range of the suction cup.
In general, a range sensor may obtain one-dimensional data. When three distance measuring sensors are provided, the normal vector of the measuring and calculating surface can be calculated. And then the distance between the end effector and the measuring and calculating surface can be measured and calculated according to the normal vector. And further, the posture of the end effector can be adjusted to accurately approach.
It should be noted that, in the process of approaching the second target state by the visual sensor, if the detected object exceeds the detection range of the visual sensor, the distance between the end effector and the goods to be held, the distance between the goods to be held and the surrounding objects, and other sensing parameters that are required by the scene may also be measured by the distance measuring sensor.
Further, the sensor further comprises: a proximity sensor.
In another embodiment of the present invention, the second proximity data of the end effector and the goods to be held are obtained by the proximity sensor, and the sensing parameters may further include the second proximity data of the end effector and the goods to be held, which are obtained by the proximity sensor. The second preset condition is that the second proximity data belongs to a preset fourth threshold range. That is, when the end effector of the robot is controlled to approach the goods to be held, that is, to approach the second target state, if it is detected that the second approach data of the robot and the goods to be held belongs to the preset fourth threshold range, the goods to be held is held.
The proximity sensor may detect a specific proximity parameter, or may only detect whether there is proximity data. When the proximity sensor detects whether the proximity data is generated, the proximity sensor may be set at the position of the robot according to the detection parameters of the proximity sensor. For example, if the proximity distance is 55mm, proximity to 55mm or less generates proximity data, and otherwise, no data is generated. The proximity sensor is disposed at a position where the distance from the end effector to the load falls within 55mm in a state where the end effector can hold the load. The proximity sensor generates proximity data when the end effector approaches the second target state, i.e., the end effector is in a state in which the cargo is available, and a holding operation is performed.
Further, the sensor further comprises: a tactile sensor.
In another embodiment of the present invention, the contact data of the end effector and the goods to be held can be obtained by the touch sensor. The second preset condition includes: the contact data of the end effector with the goods to be held belongs to the fourth area parameter. That is, when the end effector of the robot is controlled to approach the goods to be held, that is, when the end effector approaches the second target state, if it is detected that the contact data of the end effector and the goods to be held belongs to the fourth region parameter, the goods to be held is held. Since the tactile sensor can detect the magnitude of the force, the setting of the fourth area can also include a definition of the magnitude of the force acting with the cargo.
Further, the tactile sensor may also detect the distribution of force. The setting of the fourth region may further include a contact data definition of an end effector contact profile with the cargo. For example, when the end effector is a robot arm, the tactile sensors are disposed in areas where fingers of the robot arm contact the goods. The setting of the fourth area includes a contact data range defined by the contact distribution of each finger with the goods. It is assumed that the contact distribution is defined such that the contact area of each finger with the goods is larger than the first area. Approaching the second target state by the manipulator includes approaching the manipulator to hold the goods to be held, for example, gradually closing the fingers until the contact data obtained by the touch sensor of each finger corresponds to the contact area of the goods to be held being larger than the first area, and then performing holding. It will be appreciated that the specific contact data range for the fourth region may also include a definition of the magnitude of the force, depending on the context requirements.
Furthermore, whether the goods slide or not can be monitored by utilizing the contact data of the tactile sensor under the state of holding the goods. And if the sliding is performed, controlling the end effector to increase the holding force. And adjusting the cargo attitude in the holding state.
Further, the texture of the goods is obtained from the contact data. For example, the second target state is a region where the holding position and/or the holding posture corresponds to the cargo having the texture feature. And judging whether the end effector is contacted with the area with the texture characteristics according to the contact data when the end effector approaches to the second target state, and executing the holding operation when the characteristics of the contact data of the end effector and the goods to be held are matched with the characteristics of the contact data corresponding to the contact of the end effector and the area with the texture characteristics of the goods to be held when the end effector and the goods to be held are contacted.
In another possible implementation manner, according to the foregoing manner, if it is determined that the goods to be held is touched according to the touch data, the holding is performed. And after the goods are held, controlling the end effector to adjust the posture of the goods. For example, knowing that the texture feature is located above the cargo capture area by the end effector based on visual sensors or known cargo model data can reduce the capture force of the end effector while maintaining contact, i.e., control the force between the end effector and the cargo based on the contact data. Under the contact state, the friction force is still provided, the goods are controlled to slide down until the texture features reach the holding area of the end effector, namely whether the texture features exist is judged according to the contact data in the sliding down stage, and if the texture features exist, the end effector is controlled to increase the holding force. That is, the cargo is stably captured in the end effector and the region captured by the end effector is in the region of the textural features of the cargo. Specifically, when the texture feature includes cargo information, the texture feature may be obtained by the touch sensor, and the cargo information may be obtained.
Further, the sensor further comprises: a vacuum sensor.
In another embodiment of the present invention, the end effector of the robot includes a suction cup. The sensor may also include a vacuum sensor, and the sensed parameter includes a negative pressure parameter. The second preset condition includes that the value of the negative pressure parameter is greater than a preset negative pressure threshold. The preset negative pressure threshold value accords with the negative pressure value required by the sucking disc to suck the goods to be held.
It is to be understood that performing the capturing or placing and determining the sensing parameter may be done synchronously. Namely, once the preset condition is judged to be met, the end effector stops approaching movement.
The first region parameter, the second region parameter, the third region parameter and the fourth region parameter include a plurality of sets of sensing parameters corresponding to a multi-dimensional space such as a one-dimensional interval, a two-dimensional region, a three-dimensional space, a six-dimensional space and the like. The specific values of the sensing parameters in the set may be continuous or discontinuous. For example, when 2 sensors capable of detecting six dimensions are included, 12-dimensional spatial data describing the state of the sensors may be obtained.
In the embodiment of the invention, in the process of approaching the target state, the sensor is used for acquiring the sensing parameter, and the robot is controlled to acquire the goods according to the sensing parameter. So that the robot can accurately complete the holding of the goods. When using and logistics storage field, especially be used for sign indicating number goods scheme, can realize that the distance of putting between the goods is appropriate, place neatly, practice thrift and place the space, the goods is stacked stably.
In the above embodiment, after the third target state close to the first target state and the fourth target state close to the second target state are reached, in the process of approaching the first target state and the second target state, whether to perform placing or holding is judged through the sensing parameters obtained by the sensor, so as to avoid the problem that a task fails because the robot is extruded to other goods or walls or the goods cannot be held when planning to reach the target state at one time and performing placing or holding due to errors in robot calculation and mechanical operation. Thereby improving the chances of keeping the cargo intact.
Referring to fig. 5, fig. 5 is a robot according to a fourth embodiment of the present invention, the robot is a robot 10 in fig. 1, and the robot 10 includes:
the end effector 101 is provided at the operation end of the robot 10. The manipulation tip may be a robotic arm actuation tip. The end effector 101 is disposed at the end of the robot arm.
And the sensor 102 is used for acquiring sensing parameters.
A memory 103, a processor 104 and a computer program stored on the memory 103 and executable on the processor 104, when executing the computer program, implements the method for palletizing goods by the robot as described in the embodiments of fig. 2 to 4.
The end effector 101, sensor 102, memory 103, and processor 104 are communicatively coupled, including but not limited to, via bus 105.
The Memory 103 may be a high-speed Random Access Memory (RAM) Memory or a non-volatile Memory (non-volatile Memory), such as a disk Memory. The memory 103 is used for storing a set of executable program code, and the processor 104 is coupled to the memory 104. In some embodiments, the memory 103 optionally includes memory located remotely from the processor 104, which may be connected to the robot over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Further, the sensor 102 includes: a visual sensor, a ranging sensor, a proximity sensor, a tactile sensor, a vacuum sensor, a force feedback sensor, a torque sensor, and one or more of a force and torque sensor.
Wherein force feedback sensors are provided at the end effector and force and torque sensors are provided at the joints where the operational end is connected to the end effector.
In particular, force feedback sensors are used to detect external forces.
The force and moment sensor is used for detecting external force and moment.
The visual sensor is used for acquiring a movable space of the goods to be placed in the first target state.
The visual sensor is also used for acquiring data of the goods to be held and acquiring the distance between the visual sensor and the goods to be held.
The distance measuring sensor is used for detecting the distance of the goods to be placed approaching other objects.
The distance measuring sensor is also used for detecting the distance to the goods to be held.
The proximity sensor is used for detecting first proximity data of the goods to be placed and other objects approaching.
The proximity sensor is also configured to detect second proximity data to the item to be held.
The touch sensor is used for acquiring contact data generated when the end effector is in contact with goods to be placed or held.
The vacuum sensor is used for acquiring negative pressure parameters. Furthermore, after the object is judged to be sucked according to the negative pressure parameter, the vacuum sensor can also be used for adjusting the suction force.
The vacuum sensor is also used to measure fluctuations in the negative pressure.
And according to the sensor parameters detected by the sensors, when the sensing parameters obtained by the sensors are confirmed to accord with a first preset condition, placing the goods to be placed. And when the sensing parameters obtained by the sensor are confirmed to meet the second preset condition, the goods to be held are held. Please refer to the description of the embodiments in fig. 2 to fig. 4, which will not be repeated herein.
Further, the robot further includes: the robot comprises a moving mechanism, a mechanical arm, a machine body and a power supply.
The bottom of the moving mechanism is provided with a plurality of wheels, and the robot can move in all directions by driving the wheels to rotate.
The processor 104 and the memory 103 are provided in the body.
For details of the technology that are not described in detail in this embodiment, reference may be made to the methods provided in the first to third embodiments of the present invention.
In the embodiment of the invention, at least one sensor is arranged on the robot, the sensor is used for acquiring the sensing parameter, and the robot is controlled to place or hold the goods according to the sensing parameter, so that the robot can accurately finish the operation of the goods when the goods are stacked, the distance between the goods is proper, the goods are placed orderly, the placing space is saved, and the goods are stacked stably.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no acts or modules are necessarily required of the invention.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the above description, for those skilled in the art, there are variations on the specific implementation and application range according to the idea of the embodiment of the present invention, and in summary, the content of the description should not be construed as a limitation to the present invention.
Claims (14)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/098781 WO2019037013A1 (en) | 2017-08-24 | 2017-08-24 | Method for stacking goods by means of robot and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108698225A CN108698225A (en) | 2018-10-23 |
| CN108698225B true CN108698225B (en) | 2022-05-17 |
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| CN201780006693.7A Expired - Fee Related CN108698225B (en) | 2017-08-24 | 2017-08-24 | Method and robot for stacking goods by robot |
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| CN (1) | CN108698225B (en) |
| WO (1) | WO2019037013A1 (en) |
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| CN109648562B (en) * | 2018-12-29 | 2021-01-26 | 深圳蓝胖子机器人有限公司 | Box body grabbing control method, box body placing control method, related device and system |
| CN110509067B (en) * | 2019-07-31 | 2021-06-29 | 清华大学 | A multi-robot system equipment for in-situ machining of large and complex components |
| CN114671256B (en) * | 2020-12-24 | 2024-05-24 | 未势能源科技有限公司 | Battery stack material stacking control method, device and material taking mechanism |
| CN115557432B (en) * | 2022-09-28 | 2025-10-03 | 深圳海星智驾科技有限公司 | Cargo unloading method, device, electronic device and storage medium |
| CN116187908B (en) * | 2023-03-21 | 2023-12-22 | 岳阳礼一科技股份有限公司 | An intelligent management method and system for warehousing and logistics based on image recognition |
| WO2025156560A1 (en) * | 2024-01-23 | 2025-07-31 | 上海市浦东新区人民医院 | Intelligent mobile device applied in medical imaging systems for automatic placement of mr coils |
| CN118220723B (en) * | 2024-05-22 | 2024-07-26 | 菲特（天津）检测技术有限公司 | Accurate stacking method and system based on machine vision |
| CN119610037A (en) * | 2024-12-13 | 2025-03-14 | 北京航空航天大学 | An immersive master-slave teleoperated humanoid robot system with force feedback |
| CN120191769B (en) * | 2025-05-26 | 2025-08-15 | 北京汇研中科科技发展有限公司 | Vehicle sensing and mechanical arm unloading system |
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| WO2019037013A1 (en) | 2019-02-28 |
| CN108698225A (en) | 2018-10-23 |
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