Robot with unstacking abnormity processing function

Abstract

The invention provides a robot with an unstacking exception handling function, which comprises a sensing unit, a processing unit, a human-computer interface, an input unit, a sending unit, a robot body and a driving unit, and is characterized in that simulation software of the processing unit is used for building a simulation environment according to a real unstacking scene provided by a user and simulating an unstacking process in the real scene in the simulation environment; when abnormity occurs in the unstacking process, whether manual processing is carried out or not is determined according to the type of the unstacking abnormity; if the user selects that manual processing is needed, an exception processing task is issued to a worker in a real environment through a sending unit; and if manual processing is not needed, the driving unit controls the robot body to directly process unstacking abnormity. Therefore, the unstacking process in a real environment can be monitored in real time through the virtual stack type in simulation, remote monitoring of material disassembly is completed, stacking abnormity in the disassembly process is handled in time, and tracking and management of the real stacking process are facilitated.

Description

Technical Field

[0001] The present invention relates to intelligent manufacturing and high-end manufacturing, and in particular to a robot capable of handling depalletizing exceptions. Background Art

[0002] Depalletizing is to grab the materials stacked on the pallet in a certain order and place them on the conveyor belt or material frame for storage or transportation. The automated depalletizing process usually involves identifying the location of the materials to be grabbed in the stack through a visual system, and then planning the robot's mechanical arm to grab and stack the materials.

[0003] At present, industrial robots are controlled to perform depalletizing operations through pre-made depalletizing programs. Since the pallet type is known, the robot will depalletize sequentially according to the pallet type during the entire operation process.

[0004] However, in real depalletizing scenarios, abnormal situations are prone to occur, such as the robot dropping the material it is grabbing, or hitting other materials in the stack during the grabbing process, causing the stack shape to change. At this time, if the robot cannot detect the depalletizing abnormality in time and handle it, it will cause the stack to collapse or become unstable, posing a safety hazard. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a robot capable of handling depalletizing exceptions.

[0006] In a first aspect, an embodiment of the present application provides a robot with depalletizing exception handling, comprising: a sensing unit, a processing unit, a human-machine interface, an input unit, a sending unit, a robot body, and a driving unit, wherein the sensing unit is used to collect images of a working environment to determine a depalletizing area, a location of a material, and a location where the material is stacked; the processing unit is loaded with simulation software, and the simulation software is used to build a simulation environment according to a real depalletizing scene provided by a user, and simulate a depalletizing process in a real scene in the simulation environment; and the depalletizing process in the simulation environment is in step with the depalletizing process in the real environment;

[0007] The processing unit is in communication connection with the sensing unit, and when the sensing unit detects that an abnormality occurs in the real environment during the depalletizing process, a depalletizing abnormality reminder pops up in the human-machine interface;

[0008] The processing unit receives the type of depalletizing anomaly fed back by the sensing unit;

[0009] The human-machine interface is used to pop up a depalletizing exception handling option box according to the type of depalletizing exception, so as to confirm whether to perform manual handling;

[0010] The input unit is used to receive operation information input by the user. If the user selects that manual processing is required, the sending unit issues an exception handling task to the staff in the real environment;

[0011] If manual processing is not required, the driving unit controls the robot body to directly process the depalletizing anomaly.

[0012] Optionally, the perception unit includes: an embedded image processor and a plurality of cameras, wherein the cameras are mounted on a mechanical arm or a base of the robot;

[0013] The camera transmits the collected image of the depalletizing area to the image processor;

[0014] The image processor analyzes the image of the depalletizing area to determine the type of depalletizing anomaly.

[0015] Optionally, the types of depalletizing exceptions include:

[0016] The material is still on the stack, and the robot is judged to have failed to grab it;

[0017] The material is not on the stack, and the robot is judged to have dropped the material during the grasping process;

[0018] The material is on the conveyor or pallet, but the material is damaged.

[0019] Optionally, the input unit is further used to receive trigger indication information for the depalletizing exception processing option box, wherein the depalletizing exception processing option box includes: depalletizing exception type, and options for whether manual processing is required;

[0020] When a trigger prompt message requiring manual processing is received, a material quantity input box pops up on the human-machine interface;

[0021] The input unit is further used to receive the material quantity that needs to be manually processed input by the user in the material quantity input box.

[0022] Optionally, the processing unit is specifically used to: if the robot fails to grasp and the material is not on the stack, instruct the staff to check whether the dropped material is damaged through the sending unit; if the material is not damaged, the staff will move the material to a conveyor belt or a pallet; if the material is damaged, instruct the staff to recycle the material or terminate the current depalletizing order through the sending unit;

[0023] The input unit is also used to receive the abnormality elimination indication information fed back by the staff;

[0024] After receiving the indication information that the abnormality has been eliminated, the processing unit increases the progress of the depalletizing task in the order information according to the number of materials manually processed.

[0025] Optionally, it also includes:

[0026] The depalletizing task progress detection unit is used to detect whether the depalletizing task progress in the order information increases according to a preset waiting period. If the depalletizing task progress increases, and the increased progress is consistent with the input number of materials that need to be manually processed, a prompt message indicating that the depalletizing exception processing has been completed is displayed through the human-machine interface, and a start trigger indication message sent by the user is received through the input unit to continue to execute the unfinished depalletizing order;

[0027] If the depalletizing task progress does not increase, or the increased depalletizing task progress is inconsistent with the input quantity of materials that need to be manually processed, the next waiting cycle will be entered.

[0028] Optionally, it also includes:

[0029] A depalletizing step confirmation unit, used to determine whether the depalletizing process in the simulation environment is consistent with the depalletizing process in the real environment after displaying a prompt message that the depalletizing exception processing has been completed;

[0030] If they are inconsistent, the processing unit adjusts the stacking type in the simulation environment according to the stacking type in the real environment, so that the stacking type in the simulation environment is consistent with the stacking type in the real environment.

[0031] Optionally, it also includes:

[0032] The waiting timeout prompt unit is used to display a waiting timeout prompt box through the human-machine interface when the number of waiting cycles reaches the upper limit threshold, so as to remind the staff to check the cause of the timeout.

[0033] Optionally, it also includes:

[0034] The storage unit is used to record the time spent on manually handling depalletizing exceptions, the number of times the exceptions are handled, and the information of the staff who handles each exception.

[0035] Optionally, any one or more of the processing unit, the sensing unit, the human-machine interface, the input unit, and the sending unit are combined with the robot body into an integral structure; or,

[0036] Any one or more of the processing unit, the sensing unit, the human-machine interface, the input unit, and the sending unit are connected to the robot body by remote communication;

[0037] The robot body includes: at least one end effector. After determining the depalletizing area, the location of the material, and the location where the material is stacked, the drive unit controls the end effector to sequentially grab at least one material according to a preset depalletizing rule and place it at a designated location.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In this application, a simulation environment is built according to the real depalletizing scene provided by the user, and the simulation environment is used to simulate the depalletizing process in the real scene; wherein, the depalletizing process in the simulation environment is in step with the depalletizing process in the real environment; when an abnormality occurs in the depalletizing process in the real environment, a depalletizing abnormality reminder pops up in the simulation environment; the type of depalletizing abnormality is determined by the visual system arranged in the real environment; according to the type of depalletizing abnormality, a depalletizing abnormality handling option box pops up to confirm whether manual processing is performed; if manual processing is required, an abnormality handling task is issued to the staff in the real environment. Thus, the depalletizing process in the real environment can be monitored in real time through the virtual stack type in the simulation, so that the user can complete the remote monitoring of the material disassembly in the simulation, and timely handle the stacking abnormality in the disassembly process, with strong reliability, and it is convenient to track and manage the real stacking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0041] Figure 1 This is a schematic diagram of the structure of a robot with batch stacking planning in the first embodiment of the present application;

[0042] Figure 2 Schematic diagram of the depalletizing exception handling interface based on HMI provided in the embodiment of the present application Figure 1 ;

[0043] Figure 3 Schematic diagram of the depalletizing exception handling interface based on HMI provided in the embodiment of the present application Figure 2 ;

[0044] Figure 4 Schematic diagram of the depalletizing exception handling interface based on HMI provided in the embodiment of the present application Figure 3 ;

[0045] Figure 5 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 1 ;

[0046] Figure 6 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 2 ;

[0047] Figure 7 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 3 ;

[0048] Figure 8 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 4 ;

[0049] Fig. 9 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 5 . DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0052] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0053] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0055] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0056] Figure 1 Schematic diagram of the structure of the robot with batch stacking planning in the first embodiment of the present application. Figure 1 As shown, the robot in this embodiment may include: a sensing unit 104, a processing unit 105, a human-machine interface, an input unit, a sending unit, a robot body 101, and a driving unit 102. The sensing unit 104 is used to collect images of the working environment to determine the destacking area, the location of the materials, and the location where the materials are stacked. The processing unit 105 is loaded with simulation software, and the simulation software is used to build a simulation environment according to the real destacking scene provided by the user, and simulate the destacking process in the real scene in the simulation environment; and the destacking process in the simulation environment is in step with the destacking process in the real environment; the robot body 101, under the control of the driving unit 102, performs the destacking task according to the preset destacking rules.

[0057] Exemplarily, the human-machine interface and the processing unit 105 are integrated into a human-machine interface for communicating with the perception unit 104. When the perception unit 104 detects that an abnormality occurs in the real environment during the destacking process, a destacking abnormality reminder pops up in the human-machine interface; the processing unit 105 receives the type of destacking abnormality fed back by the perception unit 104; the human-machine interface is used to pop up a destacking abnormality handling option box according to the type of destacking abnormality to confirm whether manual handling is to be performed; the input unit is used to receive operation information input by the user. If the user chooses manual handling, the exception handling task is issued to the staff in the real environment through the sending unit; if manual handling is not required, the driving unit 102 controls the robot body 101 to directly handle the destacking abnormality.

[0058] In one embodiment, any one or more of the processing unit, the sensing unit, the human-machine interface, the input unit, and the sending unit are combined with the robot body into an integral structure.

[0059] In another embodiment, any one or more of the processing unit, the sensing unit, the human-machine interface, the input unit, and the sending unit are connected to the robot body by remote communication.

[0060] Combination Figure 1 The processing unit 105 is connected to the processor and the sensing unit 104 in the robot body 101 through a wireless network or a wired communication. The robot body 101 includes: at least one end effector 103. After determining the material position in the real environment, the driving unit 102 controls the end effector 103 to grab the material 107 according to the preset depalletizing rule and place it on the designated pallet 106 or the conveyor belt.

[0061] Figure 2 Schematic diagram of the depalletizing exception handling interface based on HMI provided in the embodiment of the present application Figure 1 ,like Figure 2 As shown in the figure, the depalletizing exception handling function is developed through the human machine interface (HMI), and a depalletizing virtual scene consistent with the real environment is constructed in the simulation interface. Figure 1 The depalletizing process in the simulation environment is demonstrated in the figure. When a depalletizing exception occurs, a depalletizing exception handling dialog box pops up in the simulation operation interface to confirm whether to manually place the box.

[0062] Figure 3 Schematic diagram of the depalletizing exception handling interface based on HMI provided in the embodiment of the present application Figure 2 ,like Figure 3 As shown, when Figure 2In the dialog box shown, select the need for manual box placement processing, and the manual box placement processing dialog box will pop up. Enter the number of manual boxes in this dialog box.

[0063] Figure 4 Schematic diagram of the depalletizing exception handling interface based on HMI provided in the embodiment of the present application Figure 3 ,like Figure 4 As shown in the figure, according to the real depalletizing scene provided by the user, a simulation environment is built, and robots, pallets, stacking, etc. are added to the simulation environment to simulate the depalletizing process in the real scene; and the depalletizing process in the simulation environment is ensured to be in step with the depalletizing process in the real environment. This is to enable remote monitoring of material disassembly in the HMI, and timely handle depalletizing anomalies during the disassembly process, with strong reliability, easy tracking and management of the real depalletizing process, and ensure the accuracy of depalletizing.

[0064] Figure 5 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 1 ,like Figure 5 As shown, the robot 500 with depalletizing exception handling in this embodiment may include: a sensing unit 510, a processing unit 520, a human-machine interface 530, an input unit 540, a sending unit 550, a robot body 560, and a driving unit 570. The sensing unit 510 is used to collect images of the working environment to determine the depalletizing area, the location of the materials, and the location where the materials are stacked; the processing unit 520 is loaded with simulation software 521, and the simulation software 521 is used to build a simulation environment according to the real depalletizing scene provided by the user, and simulate the depalletizing process in the real scene in the simulation environment; and the depalletizing process in the simulation environment is in step with the depalletizing process in the real environment; the processing unit 520 and the sensing unit 510 are used to collect images of the working environment to determine the depalletizing area, the location of the materials, and the location where the materials are stacked; the processing unit 520 is loaded with simulation software 521, and the simulation software 521 is used to build a simulation environment according to the real depalletizing scene provided by the user, and simulate the depalletizing process in the real scene in the simulation environment; and the depalletizing process in the simulation environment is in step with the depalletizing process in the real environment; The sensing unit 510 is in communication connection with the robot. When the sensing unit 510 detects that an abnormality occurs in the depalletizing process in the real environment, a depalletizing abnormality reminder pops up in the human-machine interface 530. The processing unit 520 receives the type of depalletizing abnormality fed back by the sensing unit 510. The human-machine interface 530 is used to pop up a depalletizing abnormality handling option box according to the type of depalletizing abnormality to confirm whether manual handling is to be performed. The input unit 540 is used to receive operation information input by the user. If the user chooses manual handling, the exception handling task is issued to the staff in the real environment through the sending unit 550. If manual handling is not required, the driving unit 570 controls the robot body 560 to directly handle the depalletizing abnormality.

[0065] For example, the depalletizing process in the simulation environment is in step with the depalletizing process in the real environment. Figure 4 As shown, the simulation environment may include robots, conveyor belts, pallets, palletizing, etc., wherein the depalletizing progress on the pallet is consistent with the depalletizing progress in the real environment.

[0066] Exemplarily, the perception unit 510 includes: an image processor 511, and multiple cameras 512 arranged around the depalletizing area and / or on the robot; the camera 512 transmits the collected image of the depalletizing area to the image processor 511; the image processor 511 analyzes the image of the depalletizing area to determine the type of depalletizing abnormality.

[0067] In this embodiment, the depalletizing process can be monitored in real time by cameras (2D cameras, 3D cameras) deployed in the real environment. If a depalletizing abnormality occurs (for example, robot grasping failure, part drop, material damage, stack collapse, etc.), a depalletizing abnormality reminder will pop up in the simulation operation interface.

[0068] In this embodiment, the image of the depalletizing area can be collected by cameras arranged around the depalletizing area and / or on the robot; and the type of depalletizing abnormality is determined based on the image of the depalletizing area.

[0069] Exemplary types of depalletizing anomalies include the following:

[0070] The material is still on the stack, and the robot is judged to have failed to grab it;

[0071] The material is not on the stack, and the robot is judged to have dropped the material during the grasping process;

[0072] The material is on the conveyor or pallet, but the material is damaged.

[0073] It should be noted that the present embodiment does not limit the type of exceptions, and the classification of exceptions may be increased according to various possibilities that may occur in a real environment, and different processing strategies may be set based on different exception types.

[0074] In this embodiment, after determining the type of depalletizing exception, a depalletizing exception handling option box pops up. Specifically, when the material is still on the stack, that is, it has not been grabbed by the robot (grasping failure), no manual processing is required at this time, and the robot is directly controlled to perform secondary grabbing.

[0075] In one possible situation, the robot fails to grab the material and drops it. In this case, select "manual handling required" in the exception handling option box that pops up on the HMI. The human will check whether the material is damaged. If not, the material will be moved to the conveyor belt or material frame (pallet). If it is damaged, it will be handled according to the handling plan for damaged materials in the operation manual, for example: recycling, or terminating the current depalletizing order.

[0076] In this embodiment, when manual processing is selected, a reminder is sent to the staff in the real environment, and the type of exception to be processed and the corresponding processing strategy are informed.

[0077] Exemplarily, the input unit 540 is also used to receive trigger indication information for a depalletizing exception handling option box, which includes: the depalletizing exception type, and an option for whether manual processing is required; when a trigger prompt information requiring manual processing is received, a material quantity input box pops up in the human-machine interface 530; the material quantity requiring manual processing is entered in the material quantity input box through the input unit 540.

[0078] Exemplarily, the processing unit 520 is specifically used to: if the robot fails to grasp and the material is not on the stack, instruct the staff to check whether the dropped material is damaged through the sending unit 550. If the material is not damaged, the staff will move the material to the conveyor belt or pallet; if the material is damaged, instruct the staff to recycle the material or terminate the current depalletizing order through the sending unit 550; the input unit 540 is also used to receive the abnormality eliminated indication information fed back by the staff; after receiving the abnormality eliminated indication information, the processing unit 520 increases the depalletizing task progress in the order information according to the number of materials manually processed.

[0079] In this embodiment, if the robot fails to grab and the material is not on the stack, the staff is instructed to check whether the dropped material is damaged. If the material is not damaged, the staff will move the material to a conveyor belt or a pallet; the staff will receive the abnormality elimination indication information feedback from the staff, and the depalletizing task progress in the order information will be automatically increased according to the number of materials manually processed; if the material is damaged, the staff will recycle the material or terminate the current depalletizing order. In this way, the staff can be notified in time to handle the depalletizing abnormality and the progress of the abnormality handling can be monitored in a simulation environment.

[0080] In this embodiment, a simulation environment is built according to the real depalletizing scene provided by the user. When an abnormality occurs in the depalletizing process in the real environment, a depalletizing abnormality reminder pops up in the simulation environment; the type of depalletizing abnormality is determined by the visual system deployed in the real environment; according to the type of depalletizing abnormality, a depalletizing abnormality handling option box pops up to confirm whether manual processing is required; if manual processing is required, an abnormality handling task is issued to the staff in the real environment. Therefore, the depalletizing process in the real environment can be monitored in real time through the virtual stack type in the simulation, so that the user can complete the remote monitoring of material disassembly in the simulation, and timely handle the stacking abnormality in the disassembly process, which has strong reliability and is convenient for tracking and managing the real stacking process.

[0081] Figure 6 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 2 ,like Figure 6As shown, the robot 500 with depalletizing exception handling in this embodiment may include: a sensing unit 510, a processing unit 520, a human-machine interface 530, an input unit 540, a sending unit 550, a robot body 560, a driving unit 570, and a depalletizing task progress detection unit 580, wherein the depalletizing task progress detection unit 580 is used to detect whether the depalletizing task progress in the order information increases according to a preset waiting cycle. If the depalletizing task progress increases, and the increased progress is consistent with the number of materials that need manual processing input on the manual processing interface, a prompt message indicating that the depalletizing exception handling has been completed is displayed through the display unit, and a start trigger indication message sent by the user is received through the input unit to continue to execute the unfinished depalletizing order; if the depalletizing task progress does not increase, or the increased depalletizing task progress is inconsistent with the number of materials that need manual processing input on the manual processing interface, the next waiting cycle is entered.

[0082] In this embodiment, by detecting whether the progress of the depalletizing task in the order information increases according to the preset waiting cycle, if the progress of the depalletizing task increases, and the increased progress is consistent with the number of materials that need to be manually processed input on the manual processing interface, a prompt message indicating that the depalletizing exception processing has been completed is displayed, and the start trigger instruction information sent by the user is received, and the unfinished depalletizing order continues to be executed; if the progress of the depalletizing task does not increase, or the increased progress of the depalletizing task is inconsistent with the number of materials that need to be manually processed input on the manual processing interface, the next waiting cycle is entered. In this way, the progress of the depalletizing order can be monitored, and it is clear whether all the exceptions that need to be manually processed have been processed, ensuring that the depalletizing process in the simulation environment is in step with the depalletizing process in the real environment, so as to simulate the depalletizing process in the real environment through the simulation environment and achieve the purpose of remote monitoring.

[0083] Figure 7 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 3 ,like Figure 7 As shown, the robot 500 with depalletizing exception handling in this embodiment may include: a sensing unit 510, a processing unit 520, a human-machine interface 530, an input unit 540, a sending unit 550, a robot body 560, a driving unit 570, a depalletizing task progress detection unit 580, and a depalletizing pace confirmation unit 590, wherein the depalletizing pace confirmation unit 590 is used to determine whether the pace of the depalletizing process in the simulation environment is consistent with that in the real environment after displaying a prompt message that the depalletizing exception handling has been completed; if not, the processing unit adjusts the stack type in the simulation environment according to the stack type in the real environment, so that the stack type in the simulation environment is consistent with the stack type in the real environment.

[0084] Figure 8A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 4 ,like Figure 8 As shown, the robot 500 with depalletizing exception handling in this embodiment may include: a sensing unit 510, a processing unit 520, a human-machine interface 530, an input unit 540, a sending unit 550, a robot body 560, a driving unit 570, a depalletizing task progress detection unit 580, a depalletizing pace confirmation unit 590, and a waiting timeout prompt unit 5100, wherein the waiting timeout prompt unit 5100 is used to display a waiting timeout prompt box through the display unit when the number of waiting cycles reaches an upper limit threshold, so as to remind the staff to check the cause of the timeout.

[0085] In this embodiment, the upper limit threshold of the number of waiting cycles is set to limit the time range of abnormal processing. When the number of waiting cycles reaches the upper and lower thresholds, the staff is notified to promptly investigate the cause of the timeout. If it is a normal situation (for example, the abnormal situation is complicated, the number of dropped materials is large, and the processing time does take a long time, the waiting cycle can be manually reset). If it is an abnormal situation, such as the abnormality has been eliminated, but the processing unit has not been notified in time to resume the execution of the order task, the input unit receives the start trigger instruction information sent by the user to continue to execute the unfinished depalletizing order, thereby ensuring the smooth progress of the depalletizing task and avoiding the robot from being stuck for too long.

[0086] Fig. 9 A schematic diagram of the structure of a robot with depalletizing exception handling provided in an embodiment of the present application Figure 5 ,like Fig. 9 As shown, the robot 500 with depalletizing exception handling in this embodiment may include: a sensing unit 510, a processing unit 520, a human-machine interface 530, an input unit 540, a sending unit 550, a robot body 560, a driving unit 570, a depalletizing task progress detection unit 580, a depalletizing pace confirmation unit 590, a waiting timeout prompt unit 5100, and a storage unit 5110, wherein the storage unit 5110 is used to record the time spent on manually handling depalletizing exceptions, the number of handling times, and the staff information for each exception handling.

[0087] In this embodiment, the storage unit records the time spent on manually handling depalletizing exceptions, the number of times the exceptions are handled, and the information of the staff who handles each exception, so that the probability of occurrence and processing time of various abnormal situations can be analyzed to facilitate the improvement of the robot's depalletizing program.

[0088] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0089] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A robot capable of handling depalletizing exceptions, characterized in that: include: A sensing unit, a processing unit, a human-machine interface, an input unit, a sending unit, a robot body, and a driving unit. The sensing unit is used to collect images of the working environment to determine the depalletizing area, the location of the materials, and the location where the materials are stacked. The processing unit is loaded with simulation software. The simulation software is used to build a simulation environment according to the real depalletizing scene provided by the user, and simulate the depalletizing process in the real scene in the simulation environment. The depalletizing process in the simulation environment is in step with the depalletizing process in the real environment. The processing unit is in communication connection with the sensing unit, and when the sensing unit detects that an abnormality occurs in the real environment during the depalletizing process, a depalletizing abnormality reminder pops up in the human-machine interface; The processing unit receives the type of depalletizing anomaly fed back by the sensing unit; The human-machine interface is used to pop up a depalletizing exception handling option box according to the type of depalletizing exception, so as to confirm whether to perform manual handling; The input unit is used to receive operation information input by the user. If the user selects that manual processing is required, the sending unit issues an exception handling task to the staff in the real environment; If manual processing is not required, the driving unit controls the robot body to directly process the depalletizing anomaly.

2. The robot with depalletizing exception handling function according to claim 1, characterized in that: The perception unit includes: an embedded image processor and a plurality of cameras, wherein the cameras are mounted on the robot's mechanical arm or base; The camera transmits the collected image of the depalletizing area to the image processor; The image processor analyzes the image of the depalletizing area to determine the type of depalletizing anomaly.

3. The robot with depalletizing exception handling function according to claim 1, characterized in that: The types of depalletizing anomalies include: The material is still on the stack, and the robot is judged to have failed to grab it; The material is not on the stack, and it is determined that the robot has dropped the material during the grasping process; The material is on the conveyor or pallet, but the material is damaged.

4. The robot with depalletizing exception handling function according to any one of claims 1 to 3, characterized in that: The input unit is further used to receive trigger indication information for the depalletizing exception processing option box, wherein the depalletizing exception processing option box includes: depalletizing exception type, and options for whether manual processing is required; When a trigger prompt message requiring manual processing is received, a material quantity input box pops up on the human-machine interface; The input unit is further used to receive the material quantity that needs to be manually processed input by the user in the material quantity input box.

5. The robot with depalletizing exception handling function according to claim 4, characterized in that: The processing unit is specifically used to: if the robot fails to grasp and the material is not on the stack, instruct the staff to check whether the dropped material is damaged through the sending unit. If the material is not damaged, the staff will move the material to a conveyor belt or a pallet; if the material is damaged, instruct the staff to recycle the material or terminate the current depalletizing order through the sending unit; The input unit is also used to receive the abnormality elimination indication information fed back by the staff; After receiving the indication information that the abnormality has been eliminated, the processing unit increases the progress of the depalletizing task in the order information according to the number of materials manually processed.

6. The robot with depalletizing exception handling function according to claim 5, characterized in that: Also includes: The depalletizing task progress detection unit is used to detect whether the depalletizing task progress in the order information increases according to a preset waiting period. If the depalletizing task progress increases, and the increased progress is consistent with the input number of materials that need to be manually processed, a prompt message indicating that the depalletizing exception processing has been completed is displayed through the human-machine interface, and a start trigger indication message sent by the user is received through the input unit to continue to execute the unfinished depalletizing order; If the depalletizing task progress does not increase, or the increased depalletizing task progress is inconsistent with the input quantity of materials that need to be manually processed, the next waiting cycle will be entered.

7. The robot with depalletizing exception handling function according to claim 6, characterized in that: Also includes: A depalletizing step confirmation unit, used to determine whether the depalletizing process in the simulation environment is consistent with the depalletizing process in the real environment after displaying a prompt message that the depalletizing exception processing has been completed; If they are inconsistent, the processing unit adjusts the stacking type in the simulation environment according to the stacking type in the real environment, so that the stacking type in the simulation environment is consistent with the stacking type in the real environment.

8. The robot with depalletizing exception handling function according to claim 6, characterized in that: Also includes: The waiting timeout prompt unit is used to display a waiting timeout prompt box through the human-machine interface when the number of waiting cycles reaches the upper limit threshold, so as to remind the staff to check the cause of the timeout.

9. The robot with depalletizing exception handling function according to any one of claims 1 to 3, characterized in that: Also includes: The storage unit is used to record the time spent on manually handling depalletizing exceptions, the number of times the exceptions are handled, and the information of the staff who handles each exception.

10. The robot with depalletizing exception handling function according to any one of claims 1 to 3, characterized in that: Any one or more of the processing unit, the sensing unit, the human-machine interface, the input unit, and the sending unit are combined with the robot body into an integral structure; or, Any one or more of the processing unit, the sensing unit, the human-machine interface, the input unit, and the sending unit are connected to the robot body by remote communication; The robot body includes: at least one end effector. After determining the depalletizing area, the location of the material, and the location where the material is stacked, the drive unit controls the end effector to sequentially grab at least one material according to a preset depalletizing rule and place it at a designated location.

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