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Robot eccentric load detection method, robot loading method, device and robot

A detection method and robot technology, which is applied in the field of robots and storage robots, can solve the problems of unsatisfactory long-term detection of partial load, high cost, sensor wear, etc., meet the needs of long-term detection of partial load, reduce robot cost, reduce effect of complexity

Active Publication Date: 2022-05-17
BEIJING KUANGSHI ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing technologies are realized by adding additional eccentric load detection sensors. On the one hand, the complexity of the robot structure design and the cost of the robot are increased. During the process of driving and traveling, the sensor is prone to wear and tear or even damage, resulting in inaccurate detection results of the partial load obtained by the sensor.
In summary, the existing sensor detection methods are not only costly, but also unable to meet the needs of long-term detection of partial load, and the reliability is poor

Method used

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  • Robot eccentric load detection method, robot loading method, device and robot
  • Robot eccentric load detection method, robot loading method, device and robot
  • Robot eccentric load detection method, robot loading method, device and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] First, refer to figure 1 To describe an example electronic device 100 for implementing a method for detecting eccentric loading of a robot, a method for loading a robot, an apparatus, and a robot for implementing the embodiments of the present invention.

[0038] like figure 1 Shown is a schematic structural diagram of an electronic device. The electronic device 100 includes one or more processors 102, one or more storage devices 104, an input device 106, an output device 108, and an image acquisition device 110. These components pass through the bus system 112. and / or other forms of interconnection mechanisms (not shown). It should be noted that figure 1 The illustrated components and structures of the electronic device 100 are exemplary and not limiting, and the electronic device may have other components and structures as desired.

[0039] The processor 102 may be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable g...

Embodiment 2

[0046] see figure 2 Shown is a schematic flowchart of a method for detecting eccentric load of a robot. The method can be executed by the main controller of the robot, and mainly includes the following steps S202 to S206:

[0047] In step S202, the inertial measurement unit of the robot to be detected is used to obtain the first pitch angles of the robot to be detected in a plurality of specified directions before the object is lifted, and the second pitch of the robot to be detected in a plurality of specified directions when the object is lifted. horn.

[0048] The pitch angle usually refers to the angle between the X axis of the body coordinate system and the horizontal plane. When the X axis of the body coordinate system is above the XOY plane of the inertial coordinate system, the pitch angle is positive, otherwise it is negative. In this embodiment, the robot to be tested includes but is not limited to a storage and freight robot. The robot usually has a moving mechani...

Embodiment 3

[0101] On the basis of the foregoing embodiments, an embodiment of the present invention further provides a method for carrying objects in a robot, see Figure 9 Shown is a schematic flowchart of a robot loading method, the method mainly includes the following steps S902 to S904:

[0102] Step S902 , when the target robot receives the load instruction, the eccentric load detection method of the robot is used to detect the eccentric load of the target robot.

[0103] The implementation principle and the technical effect of the robot eccentric load detection method adopted in this embodiment are the same as those in the second embodiment.

[0104] Step S904, when the eccentric load detection result of the target robot indicates that the target robot has no eccentric load, execute the object loading operation of the target robot.

[0105] In the above-mentioned robot loading method provided by the embodiment of the present invention, before the target robot performs the loading ...

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Abstract

The invention provides a method for detecting robot eccentric loading, a method for loading objects by a robot, a device, and a robot. The first pitch angle in the direction, and the second pitch angle in multiple specified directions when the robot to be detected lifts the object; for each specified direction, calculate the first pitch angle and the second pitch angle corresponding to the specified direction The pitch angle difference between them; determine the eccentric load detection result of the robot to be detected based on the pitch angle difference corresponding to each specified direction. The invention can achieve a relatively durable and reliable partial load detection effect without additional cost increase.

Description

technical field [0001] The invention relates to the technical field of warehousing robots, in particular to a method for detecting eccentric loading of a robot, a method, a device and a robot for carrying objects of a robot. Background technique [0002] The eccentric load in the warehouse robot usually refers to the offset of the lifted goods relative to the center of the robot, which is an important parameter used to characterize whether the loaded goods are normally placed on the robot. In the field of warehousing and logistics, whether there is an eccentric load when the robot is loaded will directly affect the safety and reliability of the robot's walking, jacking, and lowering when transporting goods. Most of the existing technologies are implemented by adding additional eccentric load detection sensors. On the one hand, the complexity of the robot structure design and the cost of the robot are increased. And the sensor is prone to wear or even damage during the trave...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1679B25J9/1661B25J9/1602
Inventor 许爱功
Owner BEIJING KUANGSHI ROBOTICS TECH CO LTD