Hopper adjustment method and apparatus

Abstract

This application provides a bin adjustment method and apparatus, relating to the field of cargo handling technology. The method includes: acquiring sensor data collected by at least one sensor installed on a robot, the sensor data representing the position information of at least one first bin stacked on the robot's chassis; determining at least one second bin based on the sensor data, the second bin including at least one of the following: a first bin located at the bottom extending beyond a target area on the chassis, or any two first bins whose sides are not aligned; and controlling the robot's picking and placing device to adjust the position of the second bin. Embodiments of this application can identify the second bin within the first bins and adjust its position. This ensures that the first bin at the bottom is located within the target area, and that the remaining first bins are aligned with it. In this scenario, during palletizing, it can prevent the palletizing components on the robot from being jammed by the first bins, thereby improving the palletizing success rate.

Description

Technical Field

[0001] This application relates to the field of cargo handling technology, and in particular to a method and device for adjusting a material box. Background Technology

[0002] Smart warehousing is a crucial part of the logistics process. Materials are typically stored in bins, which are then stored in warehouses. These bins can be handled and organized by robots. For example, a transport robot can move bins from the warehouse to a workbench for picking. Another example is a transport robot moving bins from the workbench to the warehouse for storage. Yet another example is a palletizing robot stacking bins to form a pallet.

[0003] In the process of palletizing boxes by the aforementioned palletizing robot, how to improve the palletizing success rate is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a bin adjustment method and device to improve the success rate of palletizing.

[0005] In a first aspect, embodiments of this application provide a method for adjusting a material bin, including:

[0006] Acquire sensor data collected by at least one sensor installed on the robot, the sensor data being used to represent the position information of at least one first hopper stacked on the chassis of the robot;

[0007] At least one second material box is determined based on the sensor data, and the at least one second material box includes at least one of the following: a first material box located at the bottom that extends beyond the target area on the chassis, or any two first material boxes that are not aligned on the sides;

[0008] The robot's picking and placing device adjusts the position of the second material box.

[0009] Optionally, the sensor is disposed at at least one of the following locations on the robot: the upper surface of the robot's chassis, the robot's support frame, and the robot's loading and unloading device.

[0010] Optionally, the device for controlling the robot to pick up and place goods adjusts the position of the second material box, including:

[0011] Determine a first target location, which is the edge of the target area that is blocked by the second material box;

[0012] The robot's picking and placing device moves the second material box toward the target direction, which is the direction from the first target position toward the center of the target area.

[0013] Optionally, when the at least one sensor includes a reflective laser sensor disposed on the edge of the upper surface of the chassis, the emission direction of the reflective laser sensor is upward, and the first target position includes the position of the reflective laser sensor that receives the reflected laser signal;

[0014] When the at least one sensor includes a through-beam laser sensor disposed on the upper surface of the chassis, the through-beam laser sensor includes a transmitter and a receiver located on the same side of the target area, the receiver being used to receive the laser signal emitted by the transmitter, and the first target position includes: the position of the receiver that does not receive the laser signal and the position of the corresponding side where the transmitter is located;

[0015] When the at least one sensor includes a pressure sensor disposed on the edge of the upper surface of the chassis, the first target location includes the location of the pressure sensor where the received pressure is greater than or equal to a preset pressure threshold.

[0016] Optionally, when the at least one sensor includes the reflective laser sensor, the sensor data is a laser signal, and determining at least one second bin based on the sensor data includes:

[0017] If at least one of the reflective laser sensors receives the reflected laser signal, the first hopper located at the bottom is identified as the second hopper.

[0018] Optionally, when the at least one sensor includes the through-beam laser sensor, the sensor data includes the laser signal, and determining at least one second bin based on the sensor data includes:

[0019] If the receiver does not receive the laser signal emitted by the transmitter, the first hopper located at the bottom is identified as the second hopper.

[0020] Optionally, when the at least one sensor includes the pressure sensor, the sensor data includes the pressure collected by the pressure sensor, and determining at least one second hopper based on the sensor data includes:

[0021] If the pressure collected by the pressure sensor is greater than or equal to a preset pressure threshold, then the first material box located at the bottom is identified as the second material box.

[0022] Optionally, when at least one sensor is provided on the robot's support frame and / or the robot's picking and placing device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and determining at least one second hopper based on the sensor data includes:

[0023] Identify the boundary line of the target area from the sensor data;

[0024] If the boundary line of the target area is blocked by the first material box located at the bottom, then the first material box located at the bottom is identified as the second material box.

[0025] Optionally, when at least one sensor is provided on the robot's support frame and / or the robot's picking and placing device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and determining at least one second hopper based on the sensor data includes:

[0026] The deviation between corresponding sides of at least two adjacent first bins is determined based on the sensor data;

[0027] If the deviation is greater than a preset deviation threshold, then a second material box is determined from the at least two adjacent first material boxes.

[0028] Optionally, determining the second bin from the at least two adjacent first bins includes:

[0029] If the target bin among the at least two adjacent first bins is located in the target area on the upper surface of the chassis, then the bin other than the target bin among the at least two adjacent first bins is identified as the second bin.

[0030] Optionally, the device for controlling the robot to pick up and place goods adjusts the position of the second material box, including:

[0031] If the deviation is greater than a preset deviation threshold, the robot's picking and placing device is controlled to adjust the second material box to reduce the deviation.

[0032] Secondly, embodiments of this application provide a hopper adjustment device, comprising:

[0033] The sensor data acquisition module is used to acquire sensor data collected by at least one sensor installed on the robot, and the sensor data is used to represent the position information of at least one first material box stacked on the chassis of the robot.

[0034] The second material box determination module is used to determine at least one second material box based on the sensor data. The at least one second material box includes at least one of the following: a first material box located at the bottom that extends beyond the target area on the chassis, or any two first material boxes that are not aligned on the sides.

[0035] The position adjustment module is used to control the robot's picking and placing device to adjust the position of the second material box.

[0036] Optionally, the sensor is disposed at at least one of the following locations on the robot: the upper surface of the robot's chassis, the robot's support frame, and the robot's loading and unloading device.

[0037] Optionally, the position adjustment module is further configured to:

[0038] Determine a first target location, which is the edge of the target area that is blocked by the second material box;

[0039] The robot's picking and placing device moves the second material box toward the target direction, which is the direction from the first target position toward the center of the target area.

[0040] Optionally, when the at least one sensor includes a reflective laser sensor disposed on the edge of the upper surface of the chassis, the emission direction of the reflective laser sensor is upward, and the first target position includes the position of the reflective laser sensor that receives the reflected laser signal;

[0041] When the at least one sensor includes a through-beam laser sensor disposed on the upper surface of the chassis, the through-beam laser sensor includes a transmitter and a receiver located on the same side of the target area, the receiver being used to receive the laser signal emitted by the transmitter, and the first target position includes: the position of the receiver that does not receive the laser signal and the position of the corresponding side where the transmitter is located;

[0042] When the at least one sensor includes a pressure sensor disposed on the edge of the upper surface of the chassis, the first target location includes the location of the pressure sensor where the received pressure is greater than or equal to a preset pressure threshold.

[0043] Optionally, when the at least one sensor includes the reflective laser sensor, the sensor data is a laser signal, and the second bin determining module is further configured to:

[0044] If at least one of the reflective laser sensors receives the reflected laser signal, the first hopper located at the bottom is identified as the second hopper.

[0045] Optionally, when the at least one sensor includes the through-beam laser sensor, the sensor data includes the laser signal, and the second bin determining module is further configured to:

[0046] If the receiver does not receive the laser signal emitted by the transmitter, the first hopper located at the bottom is identified as the second hopper.

[0047] Optionally, when the at least one sensor includes the pressure sensor, the sensor data includes the pressure collected by the pressure sensor, and the second bin determining module is further configured to:

[0048] If the pressure collected by the pressure sensor is greater than or equal to a preset pressure threshold, then the first material box located at the bottom is identified as the second material box.

[0049] Optionally, when at least one sensor is provided on the robot's support frame and / or on the robot's loading and unloading device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and the second bin determination module is further configured to:

[0050] Identify the boundary line of the target area from the sensor data;

[0051] If the boundary line of the target area is blocked by the first material box located at the bottom, then the first material box located at the bottom is identified as the second material box.

[0052] Optionally, when at least one sensor is provided on the robot's support frame and / or on the robot's loading and unloading device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and the second bin determination module is further configured to:

[0053] The deviation between corresponding sides of at least two adjacent first bins is determined based on the sensor data;

[0054] If the deviation is greater than a preset deviation threshold, then a second material box is determined from the at least two adjacent first material boxes.

[0055] Optionally, the second bin determining module is further configured to:

[0056] If the target bin among the at least two adjacent first bins is located in the target area on the upper surface of the chassis, then the bin other than the target bin among the at least two adjacent first bins is identified as the second bin.

[0057] Optionally, the position adjustment module is further configured to:

[0058] If the deviation is greater than a preset deviation threshold, the robot's picking and placing device is controlled to adjust the second material box to reduce the deviation.

[0059] Thirdly, embodiments of this application provide an electronic device, including: at least one processor and a memory;

[0060] The memory stores computer-executed instructions;

[0061] The at least one processor executes computer execution instructions stored in the memory, causing the electronic device to implement the method described in the first aspect above.

[0062] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, cause a computing device to implement the method described in the first aspect above.

[0063] Fifthly, embodiments of this application provide a computer program for implementing the method described in the first aspect above.

[0064] The bin adjustment method and device provided in this embodiment can acquire sensor data collected by at least one sensor installed on the robot. This sensor data is used to represent the position information of at least one first bin stacked on the robot's chassis. Based on the sensor data, at least one second bin is determined. The at least one second bin includes at least one of the following: a first bin located at the bottom that extends beyond the target area on the chassis, or any two first bins whose sides are not aligned. The robot's picking and placing device is controlled to adjust the position of the second bin. This embodiment can identify the second bin among the first bins and adjust its position. In this way, it can ensure that the first bin at the bottom is located in the target area, and that the other first bins are aligned with it. In this scenario, when palletizing, the palletizing components on the robot can be prevented from being stuck by the first bins, thereby improving the palletizing success rate. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figures 1 to 4 These are, respectively, a three-dimensional structural schematic diagram, a top view, and two side views of the palletizing robot applicable to the embodiments of this application;

[0067] Figure 5 This is a flowchart illustrating the specific steps of the bin adjustment method provided in the embodiments of this application;

[0068] Figure 6 This is a schematic diagram of the sensor distribution on the robot provided in an embodiment of this application;

[0069] Figure 7 This is a schematic diagram showing the positional distribution of the sensors on the chassis according to an embodiment of this application;

[0070] Figure 8 This is a schematic diagram showing the positional distribution of the through-beam laser sensor on the chassis according to an embodiment of this application;

[0071] Figure 9 This is a schematic diagram of the adjustment direction of the first material box at the bottom provided in an embodiment of this application;

[0072] Figure 10 This is a structural block diagram of a hopper adjustment device provided in an embodiment of this application;

[0073] Figure 11 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0075] The embodiments of this application can be applied to palletizing robots, which are used to place boxes in a regular manner to form a chopping shape. The process of placing boxes by the palletizing robot described above is called the palletizing process. Figures 1 to 4 These are, respectively, a three-dimensional structural diagram, a top view, and two side views of the palletizing robot applicable to the embodiments of this application. (Refer to...) Figures 1 to 4 As shown, the palletizing robot may include: a chassis 101, a support frame 102, a picking and placing device 103, and a palletizing component 104. The support frame 102 is mounted on the chassis 101, and the picking and placing device 103 and the palletizing component 104 are mounted on the support frame 102, thus the support frame can support the picking and placing device 103 and the palletizing component. The picking and placing device 103 and the palletizing component 104 can slide up and down along the support frame 102.

[0076] For ease of explanation, the palletizing robot will be referred to as the robot from now on.

[0077] During palletizing, the pick-and-place device 103 slides to be flush with the bin and picks it up. It then slides up and down again onto the upper surface of the chassis 101, or onto the surface of an existing bin on the chassis 101, to place the bin onto the chassis 101 or an existing bin. After multiple bins are stacked on the chassis 101, the palletizing component 104 slides down to secure the bins. Finally, the palletizing component 104 can place the stacked bins into the warehouse, forming a stack within the warehouse.

[0078] As can be seen, during the palletizing process described above, the boxes stacked on the chassis must be within the border of the palletizing component to ensure that the component can successfully secure the stacked boxes, thus guaranteeing successful palletizing. If one or more of the stacked boxes extend beyond the border of the palletizing component, the component will be stuck during its downward sliding motion, failing to secure the boxes and resulting in palletizing failure.

[0079] To improve palletizing success rate, it is necessary to ensure that all stacked boxes are within the border area of ​​the palletizing component. This embodiment of the application can use sensors to detect boxes located outside the border area of ​​the palletizing component, and adjust the position of these boxes so that they are now within the aforementioned border area.

[0080] The aforementioned border area forms a projected area on the robot chassis, referred to as the target area in this embodiment. Therefore, the bins extending beyond the border area can be categorized as: bins extending beyond the bottom of the target area, and any two first bins whose sides are not aligned.

[0081] The hopper in this embodiment is a hopper containing any material.

[0082] The technical solutions of this application and how they solve the aforementioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0083] Figure 5 This is a flowchart illustrating the specific steps of the bin adjustment method provided in this application embodiment. (Refer to...) Figure 5 As shown, the method may include:

[0084] S201: Obtain sensor data collected by at least one sensor installed on the robot, the sensor data being used to represent the position information of at least one first hopper stacked on the robot's chassis.

[0085] The first material bin is a stack of material bins placed on the robot chassis.

[0086] The aforementioned sensors can be installed at at least one of the following locations on the robot: the upper surface of the robot's chassis, the robot's support frame, or the robot's loading / unloading device. Sensors on the upper surface of the chassis can be located inside the target area or at the edge of the target area. The target area can be... Figure 1 The palletizing component 104 corresponds to a specific area on the chassis. This target area is typically rectangular. Therefore, the sensor can be positioned on the edge, vertex, or inside the rectangular area.

[0087] Figure 6 This is a schematic diagram showing the distribution of sensors on a robot according to an embodiment of this application. (Refer to...) Figure 6 As shown, a sensor 1011 is installed on the upper surface of the robot's chassis 101, a sensor 1021 is installed on the robot's support frame 102, a sensor 1031 is installed on the robot's picking and placing device 103, and a sensor 1041 is installed on the robot's palletizing component 104.

[0088] It should be noted that the sensor types on the upper surface of the chassis, the sensor types on the support frame, and the sensor types on the loading and unloading device can be the same or different.

[0089] For example, sensors on the upper surface of the chassis may include at least one of the following: a reflective laser sensor, a through-beam laser sensor, and a pressure sensor. A reflective laser sensor is used to emit laser signals and receive the reflected laser signals. A through-beam laser sensor includes a transmitter and a receiver positioned opposite each other, the receiver being used to receive the laser signals emitted by the transmitter. A pressure sensor can sense the pressure exerted on the chassis by materials placed on it.

[0090] For example, sensors on the robot's support frame or its loading / unloading device can be target sensors such as image sensors or laser sensors, with the sensor's acquisition direction facing downwards. Image sensors can acquire image data. A commonly used image sensor is a camera.

[0091] Understandably, different types of sensors collect different data. Image sensors collect image data, which can be used to determine the position of the first material bin. Pressure sensors collect pressure values, which can be used to determine whether the first material bin is located at a given position, thus determining its position. Laser sensors collect laser signals, which can be used to determine the position of the first material bin based on whether a laser signal is received.

[0092] S202: Determine at least one second material box based on the above sensor data. The at least one second material box includes at least one of the following: a first material box located at the bottom that extends beyond the target area on the chassis, or any two first material boxes that are not aligned on the sides.

[0093] Specifically, the position of each first bin can be determined based on sensor data, and then the second bin can be determined from the first bins.

[0094] The first material bin located at the bottom, extending beyond the target area on the chassis, can be determined based on sensor data collected by sensors on the chassis. Of course, the method for determining the first material bin at the bottom, extending beyond the target area, will differ depending on the type of sensors on the chassis.

[0095] When the sensor on the chassis is a reflective laser sensor located on the edge of the upper surface of the chassis, the emission direction of the reflective laser sensor is upward, and the sensor data collected by the sensor is a laser signal. When the first material box located at the bottom of the chassis does not exceed the target area, the laser signal emitted by the reflective laser sensor at the edge of the target area will not be reflected, meaning the reflective laser sensor will not receive the reflected laser signal. When the first material box located at the bottom of the chassis exceeds the target area, the laser signal emitted by the reflective laser sensor will be reflected by the portion of the first material box that exceeds the target area, meaning at least one reflective laser sensor can receive the reflected laser signal. Therefore, whether the first material box located at the bottom is the second material box can be determined based on whether multiple reflective laser sensors receive the reflected laser signal.

[0096] Specifically, if at least one reflective laser sensor receives a reflected laser signal, the first material box located at the bottom is identified as the second material box. If none of the reflective laser sensors receive a reflected laser signal, the first material box located at the bottom is determined not to be the second material box.

[0097] Figure 7 This is a schematic diagram showing the positional distribution of the sensors on the chassis according to an embodiment of this application. (Refer to...) Figure 7 As mentioned above, AR1 is the upper surface of the robot chassis, and AR2 is the target area within AR1. From Figure 7 As can be seen, several reflective sensors (SORs) are set on each side of the target area AR2.

[0098] Understandably, in the above situation, the location of the reflective laser sensor that receives the reflected laser signal is the edge of the target area blocked by the second material box, which can also be referred to as the first target position. This first target position is used to adjust the second material box; the specific adjustment process can be found in the detailed explanation of S203.

[0099] When the sensor on the chassis is a through-beam laser sensor, the sensor data is the laser signal. A through-beam laser sensor includes a transmitter and a receiver positioned opposite each other on the same side of the target area; the receiver receives the laser signal emitted by the transmitter. Figure 8 This is a schematic diagram showing the positional distribution of the through-beam laser sensor on the chassis according to an embodiment of this application. (Refer to...) Figure 8 As shown, AR1 is the upper surface of the robot chassis, and AR2 is the target area in AR1. Figure 8 It includes four pairs of through-beam laser sensors: through-beam laser sensors consisting of OSR11 and OSR12, through-beam laser sensors consisting of OSR21 and OSR22, through-beam laser sensors consisting of OSR31 and OSR32, and through-beam laser sensors consisting of OSR41 and OSR42.

[0100] It can be seen that OSR11 and OSR12 are located on two adjacent vertices of the target region AR2, OSR21 and OSR22 are located on two adjacent vertices of the target region AR2, OSR31 and OSR32 are located on two adjacent vertices of the target region AR2, and OSR41 and OSR42 are located on two adjacent vertices of the target region AR2.

[0101] It should be noted that the positions of the transmitter and receiver in each pair of through-beam laser sensors can be interchanged. This application uses OSR11, OSR21, OSR31, and OSR41 as transmitters, and OSR21, OSR22, OSR32, and OSR42 as receivers as examples for illustration.

[0102] from Figure 8 As can be seen, when the transmitter and receiver of a pair of through-beam laser sensors are blocked by a first hopper that extends beyond the target area, the laser signal emitted by the receiver is blocked by the first hopper, preventing the receiver from receiving the laser signal. Therefore, whether the first hopper at the bottom is the second hopper can be determined based on whether the receiver receives the laser signal. Specifically, if the receiver does not receive the laser signal emitted by the transmitter, the first hopper at the bottom is identified as the second hopper. If each receiver receives the laser signal emitted by the transmitter, the first hopper at the bottom is determined not to be the second hopper.

[0103] For example, if OSR12 does not receive the laser signal emitted by OSR11, and / or OSR22 does not receive the laser signal emitted by OSR21, and / or OSR32 does not receive the laser signal emitted by OSR31, and / or OSR42 does not receive the laser signal emitted by OSR41, then the first hopper located at the bottom is determined to be the second hopper. If OSR12 receives the laser signal emitted by OSR11, and OSR22 receives the laser signal emitted by OSR21, and OSR32 receives the laser signal emitted by OSR31, and OSR42 receives the laser signal emitted by OSR41, then the first hopper located at the bottom is determined not to be the second hopper.

[0104] Understandably, in the above situation, at least one position between the receiver that did not receive the laser signal and its corresponding transmitter is the edge position of the target area blocked by the second material box, which can also be referred to as the first target position. The aforementioned first target position is used to adjust the second material box, and the specific adjustment process can be referred to in the detailed description of S203.

[0105] When the sensors on the chassis are pressure sensors located on the edge of the upper surface of the chassis, the sensor data is pressure. If the first material box exceeds the target area, the excess portion of the first material box will press against the pressure sensor, and the pressure detected by the pressure sensor will be greater than a preset pressure threshold. If the first material box does not exceed the target area, the first material box will not press against any pressure sensor, and the pressure detected by each pressure sensor will be less than the preset pressure threshold. Therefore, it can be determined whether the first material box at the bottom is the second material box based on the pressure detected by each pressure sensor. Specifically, if the pressure collected by at least one pressure sensor is greater than or equal to the preset pressure threshold, the first material box at the bottom is determined to be the second material box. If the pressure collected by each pressure sensor is less than the preset pressure threshold, the first material box at the bottom is determined not to be the second material box.

[0106] Reference Figure 7 As shown, AR1 is the upper surface of the robot chassis, and AR2 is the target area within AR1. From Figure 7 As can be seen, several pressure sensors SOR are set on each side of the target area AR2.

[0107] Understandably, in the above situation, the location of the pressure sensor where the received pressure is greater than or equal to the preset pressure threshold is the edge of the target area blocked by the second material box, which can also be referred to as the first target position. The aforementioned first target position is used to adjust the second material box, and the specific adjustment process can be referred to in the detailed description of S203.

[0108] The first material box located at the bottom, extending beyond the target area on the chassis, can be determined not only by sensor data collected from sensors on the chassis but also by sensor data collected from sensors on the robot's support frame and / or its loading / unloading device. The sensors on the support frame and / or the loading / unloading device can include image sensors and / or point cloud laser sensors. When an image sensor is used, the sensor data can be image data. When a point cloud laser sensor is used, the sensor data can be point cloud data. Therefore, it can be determined from the image data and point cloud data whether the target area is occluded. If occluded, the first material box at the bottom is determined to be the second material box. If not occluded, the first material box at the bottom is determined not to be the second material box.

[0109] Specifically, first, the boundary line of the target area is identified from the sensor data; then, if the boundary line of the target area is blocked by the first material box located at the bottom, the first material box located at the bottom is identified as the second material box.

[0110] The sensor data typically includes the boundary line of the target area. If the boundary line is complete, it is determined that the area is not occluded. If the boundary line is incomplete, it is determined that the area is occluded.

[0111] The above details the process of determining whether the first material box at the bottom is the second material box. Specifically, it determines whether the first material box at the bottom exceeds the target area on the chassis. If it does, the first material box at the bottom is determined to be the second material box. Otherwise, the first material box at the bottom is determined not to be the second material box.

[0112] The process of determining whether the remaining first material boxes are second material boxes is explained in detail below. Specifically, the second material boxes are determined based on whether the sides of any two first material boxes are aligned. Thus, any two first material boxes whose sides are not aligned are identified as second material boxes, while any two first material boxes whose sides are aligned are not. Specifically, the first material boxes whose sides are not aligned can be determined based on sensor data collected by sensors on the support and / or the picking and placing device. The sensors on the support and / or the picking and placing device can include: image sensors and / or point cloud laser sensors. When an image sensor is used, the sensor data can be image data. When a point cloud laser sensor is used, the sensor data can be point cloud data. Therefore, based on whether the corresponding sides of adjacent first material boxes are aligned in the sensor data, it can be determined whether two adjacent first material boxes are second material boxes.

[0113] Specifically, the deviation between corresponding sides of at least two adjacent first bins can be determined based on sensor data. If the deviation is greater than a preset deviation threshold, a second bin is determined from at least two adjacent first bins; if the deviation is less than or equal to the preset deviation threshold, then at least two adjacent first bins are determined not to be the second bin.

[0114] It should be noted that adjacent first material boxes may or may not include the first material box located at the bottom. Therefore, if the deviation is greater than a preset deviation threshold, and the target material box in at least two adjacent first material boxes is located within the target area on the upper surface of the chassis, then the material box other than the target material box in at least two adjacent first material boxes is identified as the second material box. This target material box is the first material box located at the bottom. If the deviation is greater than the preset deviation threshold, and the first material box in two adjacent first material boxes does not include the first material box located at the bottom, then these two adjacent first material boxes can be identified as the second material box.

[0115] In practical applications, you can start from the bottom bin and proceed upwards to determine whether each bin is the second bin. Specifically, first determine if the bottom bin is the second bin, then check if the bottom bin and the second-to-last bin are aligned, then check if the adjacent bins above are aligned, and so on until the top bin.

[0116] If the first material box at the bottom is not the second material box, and the first material box at the bottom is not aligned with the second-to-last first material box, then the second-to-last first material box is determined to be the second material box.

[0117] If the first material box at the bottom is not the second material box, and the first material box at the bottom and the second-to-last first material box are aligned, then the second-to-last first material box is determined to be not the second material box.

[0118] If the first material box at the bottom is the second material box, and the first material box at the bottom is not aligned with the second-to-last first material box, then it cannot be determined whether the second-to-last first material box is the second material box.

[0119] If the first material box at the bottom is the second material box, and the first material box at the bottom is aligned with the second-to-last first material box, then the second-to-last first material box is determined to be the second material box.

[0120] After determining whether the second-to-last first material bin is the second material bin, you can also determine whether the third-to-last first material bin is the second material bin based on the second-to-last first material bin. This process continues until you determine whether the top first material bin is the second material bin.

[0121] If the second-to-last first material box is not the second material box, and the second-to-last first material box is not aligned with the third-to-last first material box, then the third-to-last first material box is determined to be the second material box.

[0122] If the second-to-last first material box is not the second material box, and the second-to-last first material box and the third-to-last first material box are aligned, then the third-to-last first material box is determined to be not the second material box.

[0123] If the second-to-last first material box is the second material box, and the second-to-last first material box is not aligned with the third-to-last first material box, then it cannot be determined whether the third-to-last first material box is the second material box.

[0124] If the second-to-last first material box is the second material box, and the second-to-last first material box is aligned with the third-to-last first material box, then the third-to-last first material box is determined to be the second material box.

[0125] Of course, in the above process, if two adjacent first material boxes are not aligned, and it is uncertain whether the lower first material box is the second material box, then both of these first material boxes can be identified as the second material box.

[0126] S203: The robot's picking and placing device adjusts the position of the second material box.

[0127] The adjustment of the position of the second material box may include at least one of the following: adjusting the bottom second material box into the target area, or adjusting the remaining second material boxes to align with the adjacent material boxes. The bottom second material box is the first material box located at the bottom and extending beyond the target area.

[0128] When adjusting the second material box at the bottom, firstly, a first target position is determined. The first target position is the edge of the target area obscured by the second material box, which is the first target position determined in S202 above. Then, the robot's picking and placing device moves the second material box towards the target direction, which is the direction from the first target position towards the center of the target area.

[0129] Figure 9 This is a schematic diagram illustrating the adjustment direction of the first material box at the bottom, provided in an embodiment of this application. (Refer to...) Figure 9 As shown, AR1 is the upper surface of the robot chassis, and AR2 is the target area within AR1. LOC1 to LOC4 are four primary target positions. Specifically, the direction from LOC1 to the center position O of the target area AR2 is D1, the direction from LOC2 to the center position O of the target area AR2 is D2, the direction from LOC3 to the center position O of the target area AR2 is D3, and the direction from LOC4 to the center position O of the target area AR2 is D4.

[0130] It can be seen that for LOC1, if LOC1 is blocked by the second hopper at the bottom, it can be handled according to... Figure 9 The direction D1 in the middle will move the second material box at the bottom so that the part of the second material box at the bottom that is outside LOC1 returns to the target area.

[0131] For LOC2, if LOC2 is obscured by the second hopper at the bottom, then it can be handled according to... Figure 9The direction D2 in the middle will move the second material box at the bottom so that the part of the second material box at the bottom that is outside LOC2 returns to the target area.

[0132] For LOC3, if LOC3 is obscured by the second hopper at the bottom, then it can be handled according to... Figure 9 The direction D3 in the middle will move the second material box at the bottom so that the part of the second material box at the bottom that is outside LOC3 returns to the target area.

[0133] For LOC4, if LOC4 is obscured by the second hopper at the bottom, then it can be handled according to... Figure 9 Direction D4 in the middle will move the second hopper at the bottom so that the part of the second hopper at the bottom that is outside LOC4 returns to the target area.

[0134] The above describes the process of adjusting the second material box at the bottom. The following details the adjustment process for the remaining second material boxes.

[0135] When adjusting the remaining second bins to align with the adjacent bins, it can be determined whether the deviation between the corresponding sides of the two adjacent first bins in S201 is greater than a preset deviation threshold. If the deviation is greater than the preset deviation threshold, the robot's picking and placing device is controlled to adjust the second bins to reduce the deviation. In this way, the misaligned adjacent first bins can be aligned.

[0136] It is understandable that if the first bin at the bottom is in the target area, and the remaining first bins are aligned with the first bin, then all the first bins are in the target area.

[0137] Corresponding to the hopper adjustment method in the above embodiment, Figure 10 This is a structural block diagram of a hopper adjustment device provided in an embodiment of this application. For ease of explanation, only the parts relevant to the embodiment of this application are shown. (Refer to...) Figure 10 The aforementioned bin adjustment device 300 includes: a sensor data acquisition module 301, a second bin determination module 302, and a position adjustment module 303.

[0138] The sensor data acquisition module 301 is used to acquire sensor data collected by at least one sensor installed on the robot. The sensor data is used to represent the position information of at least one first material box stacked on the chassis of the robot.

[0139] The second material box determination module 302 is used to determine at least one second material box based on the sensor data. The at least one second material box includes at least one of the following: a first material box located at the bottom that extends beyond the target area on the chassis, or any two first material boxes whose sides are not aligned.

[0140] The position adjustment module 303 is used to control the robot's picking and placing device to adjust the position of the second material box.

[0141] Optionally, the sensor is disposed at at least one of the following locations on the robot: the upper surface of the robot's chassis, the robot's support frame, and the robot's loading and unloading device.

[0142] Optionally, the position adjustment module 303 is further configured to:

[0143] A first target position is determined, which is the edge of the target area that is blocked by the second material box; the robot's picking and placing device is controlled to move the second material box toward the target direction, which is the direction from the first target position toward the center of the target area.

[0144] Optionally, when the at least one sensor includes a reflective laser sensor disposed on the edge of the upper surface of the chassis, the emission direction of the reflective laser sensor is upward, and the first target position includes the position of the reflective laser sensor that receives the reflected laser signal.

[0145] When the at least one sensor includes a through-beam laser sensor disposed on the upper surface of the chassis, the through-beam laser sensor includes a transmitter and a receiver located on the same side of the target area, the receiver being used to receive the laser signal emitted by the transmitter, and the first target position includes: the position of the receiver that does not receive the laser signal and the position of the corresponding side where the transmitter is located.

[0146] When the at least one sensor includes a pressure sensor disposed on the edge of the upper surface of the chassis, the first target location includes the location of the pressure sensor where the received pressure is greater than or equal to a preset pressure threshold.

[0147] Optionally, when the at least one sensor includes the reflective laser sensor, the sensor data is a laser signal, and the second bin determining module 302 is further configured to:

[0148] If at least one of the reflective laser sensors receives the reflected laser signal, the first hopper located at the bottom is identified as the second hopper.

[0149] Optionally, when the at least one sensor includes the through-beam laser sensor, the sensor data includes the laser signal, and the second bin determining module 302 is further configured to:

[0150] If the receiver does not receive the laser signal emitted by the transmitter, the first hopper located at the bottom is identified as the second hopper.

[0151] Optionally, when the at least one sensor includes the pressure sensor, the sensor data includes the pressure collected by the pressure sensor, and the second bin determination module 302 is further configured to:

[0152] If the pressure collected by the pressure sensor is greater than or equal to a preset pressure threshold, then the first material box located at the bottom is identified as the second material box.

[0153] Optionally, when at least one sensor is provided on the robot's support frame and / or on the robot's picking and placing device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and the second bin determination module 302 is further configured to:

[0154] Identify the boundary line of the target area from the sensor data; if the boundary line of the target area is obscured by the first material box located at the bottom, then identify the first material box located at the bottom as the second material box.

[0155] Optionally, when at least one sensor is provided on the robot's support frame and / or on the robot's picking and placing device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and the second bin determination module 302 is further configured to:

[0156] The deviation between corresponding sides of at least two adjacent first bins is determined based on the sensor data;

[0157] If the deviation is greater than a preset deviation threshold, then a second material box is determined from the at least two adjacent first material boxes.

[0158] Optionally, the second bin determining module 302 is further configured to:

[0159] If the target bin among the at least two adjacent first bins is located in the target area on the upper surface of the chassis, then the bin other than the target bin among the at least two adjacent first bins is identified as the second bin.

[0160] Optionally, the position adjustment module 303 is further configured to:

[0161] If the deviation is greater than a preset deviation threshold, the robot's picking and placing device is controlled to adjust the second material box to reduce the deviation.

[0162] The hopper adjustment device provided in this embodiment can be used to perform the above-mentioned tasks. Figure 5 The technical solutions of the method embodiments shown are similar in implementation principle and technical effect, and will not be described again here.

[0163] Figure 11 This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device 600 includes a memory 602 and at least one processor 601.

[0164] Among them, memory 602 stores computer-executed instructions.

[0165] At least one processor 601 executes computer execution instructions stored in memory 602, causing electronic device 601 to perform the aforementioned functions. Figure 5 The method in the middle.

[0166] In addition, the electronic device may also include a receiver 603 and a transmitter 604, wherein the receiver 603 is used to receive information from other devices or equipment and forward it to the processor 601, and the transmitter 604 is used to send information to other devices or equipment.

[0167] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, cause a computing device to perform... Figure 5 The method in the middle.

[0168] This application also provides a computer program for implementing... Figure 5 The method in the middle.

[0169] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for adjusting a material bin, characterized in that, include: Acquire sensor data collected by at least one sensor installed on the robot, the sensor data being used to represent the position information of at least one first hopper stacked on the chassis of the robot; At least one second material box is determined based on the sensor data, and the at least one second material box includes at least one of the following: a first material box located at the bottom that extends beyond the target area on the chassis, or any two first material boxes that are not aligned on the sides; A first target position is determined, which is the edge position of the target area blocked by the second material box; the target area is the projection area formed on the chassis by the border range of the palletizing component of the robot. The robot's picking and placing device moves the second material box toward the target direction, which is the direction from the first target position toward the center of the target area.

2. The method according to claim 1, characterized in that, The sensor is located at at least one of the following locations on the robot: the upper surface of the robot's chassis, the robot's support frame, and the robot's loading and unloading device.

3. The method according to claim 2, characterized in that, When the at least one sensor includes a reflective laser sensor disposed on the edge of the upper surface of the chassis, the emission direction of the reflective laser sensor is upward, and the first target position includes the position of the reflective laser sensor that receives the reflected laser signal; When the at least one sensor includes a through-beam laser sensor disposed on the upper surface of the chassis, the through-beam laser sensor includes a transmitter and a receiver located on the same side of the target area, the receiver being used to receive the laser signal emitted by the transmitter, and the first target position includes: the position of the receiver that does not receive the laser signal and the position of the corresponding side where the transmitter is located; When the at least one sensor includes a pressure sensor disposed on the edge of the upper surface of the chassis, the first target location includes the location of the pressure sensor where the received pressure is greater than or equal to a preset pressure threshold.

4. The method according to claim 3, characterized in that, When the at least one sensor includes the reflective laser sensor, the sensor data includes a laser signal, and determining at least one second bin based on the sensor data includes: If at least one of the reflective laser sensors receives the reflected laser signal, the first hopper located at the bottom is identified as the second hopper.

5. The method according to claim 3, characterized in that, When the at least one sensor includes the through-beam laser sensor, the sensor data includes a laser signal, and determining at least one second bin based on the sensor data includes: If the receiver does not receive the laser signal emitted by the transmitter, the first hopper located at the bottom is identified as the second hopper.

6. The method according to claim 3, characterized in that, When the at least one sensor includes the pressure sensor, the sensor data includes the pressure collected by the pressure sensor, and determining at least one second hopper based on the sensor data includes: If the pressure collected by the pressure sensor is greater than or equal to a preset pressure threshold, then the first material box located at the bottom is identified as the second material box.

7. The method according to claim 2, characterized in that, When at least one sensor is installed on the robot's support frame and / or on the robot's loading and unloading device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and determining at least one second hopper based on the sensor data includes: Identify the boundary line of the target area from the sensor data; If the boundary line of the target area is blocked by the first material box located at the bottom, then the first material box located at the bottom is identified as the second material box.

8. The method according to claim 2, characterized in that, When at least one sensor is installed on the robot's support frame and / or on the robot's loading and unloading device, the at least one sensor includes an image sensor and / or a point cloud laser sensor, and determining at least one second hopper based on the sensor data includes: The deviation between corresponding sides of at least two adjacent first bins is determined based on the sensor data; If the deviation is greater than a preset deviation threshold, then a second material box is determined from the at least two adjacent first material boxes.

9. The method according to claim 8, characterized in that, Determining the second bin from the at least two adjacent first bins includes: If the target bin among the at least two adjacent first bins is located in the target area on the upper surface of the chassis, then the bin other than the target bin among the at least two adjacent first bins is identified as the second bin.

10. The method according to claim 8 or 9, characterized in that, The device for controlling the robot to pick up and place goods moves the second material box toward the target direction, including: If the deviation is greater than a preset deviation threshold, the robot's picking and placing device is controlled to adjust the second material box to reduce the deviation.

11. A material bin adjusting device, characterized in that, include: The sensor data acquisition module is used to acquire sensor data collected by at least one sensor installed on the robot, and the sensor data is used to represent the position information of at least one first material box stacked on the chassis of the robot. The second material box determination module is used to determine at least one second material box based on the sensor data. The at least one second material box includes at least one of the following: a first material box located at the bottom that extends beyond the target area on the chassis, or any two first material boxes that are not aligned on the sides. The position adjustment module is used to determine a first target position, which is the edge position of a target area blocked by the second material box; the target area is the projection area formed on the chassis by the border of the robot's palletizing component; and to control the robot's picking and placing device to move the second material box towards the target direction, which is the direction from the first target position toward the center position of the target area.

12. An electronic device, characterized in that, The electronic device includes: at least one processor and a memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the electronic device to perform the method as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, cause a computing device to implement the method as described in any one of claims 1 to 10.

14. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1 to 10.

Images