A logistics handling robot motion control method and system

Abstract

A method and system for controlling the motion of a logistics handling robot, wherein the main controller of the method parses the material picking and placing instruction to obtain the material picking and placing starting point, the material picking and placing destination, and the execution arm signal; when the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting point signal, the action is stopped; if the main controller receives the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material; after the execution arm of the handling robot takes out the material from the first material chamber, the execution arm of the handling robot is controlled to reach the second material chamber entrance position corresponding to the material picking and placing destination signal; if the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the second material chamber to put in the material. The present invention has high flexibility, fast operation speed, high control accuracy, and low cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of handling robot control, and in particular relates to a motion control method and system for a logistics handling robot. Background Art

[0002] An automated logistics handling robot, also known as an automated guided vehicle (AGV), is a robot used for automated logistics handling. Equipped with an automatic guidance system, it can automatically travel along a predetermined route without the need for manual navigation to transport goods or materials from the starting point to the destination.

[0003] At present, the control system of automated logistics handling robots is expensive, and it is difficult to find the problem when a failure occurs. It is necessary to ask the robot manufacturer for assistance in finding the problem, which delays production progress and increases costs. In addition, fixed actions can only be achieved on the platform built by the manufacturer, and it is difficult to flexibly control according to actual production needs. The operating speed cannot be significantly improved, and the control accuracy is poor, resulting in a high failure rate of the equipment. Summary of the invention

[0004] To this end, the present invention provides a logistics handling robot motion control method and system to solve the problems of poor control flexibility, low efficiency and precision, and easy equipment failure in traditional technologies.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a motion control method for a logistics handling robot, comprising the following steps:

[0006] Sending a material pick-up and placement instruction to the main controller MCU of the handling robot through the host computer, wherein the material pick-up and placement instruction includes a material pick-up and placement starting point instruction signal, a material pick-up and placement destination instruction signal, and an execution arm selection instruction signal;

[0007] When the main controller MCU receives the material pick-up and placement instruction sent by the host computer, the main controller MCU parses the material pick-up and placement instruction to obtain a material pick-up and placement starting point signal, a material pick-up and placement destination signal, and an execution arm signal;

[0008] When the material pick-up and placement instruction is parsed, the main controller MCU sends an instruction action response signal to the host computer, and the main controller MCU controls the action of the transport robot according to the parsing result of the material pick-up and placement instruction, so that the execution arm of the transport robot reaches the first material chamber entrance position corresponding to the material pick-up and placement starting signal;

[0009] When the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting signal, the action is stopped, and it is determined whether the main controller MCU has received the first material chamber preparation completion signal sent by the host computer. If the main controller MCU has received the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material;

[0010] After the execution arm of the transport robot takes out materials from the first material chamber, the execution arm of the transport robot is controlled to reach the entrance position of the second material chamber corresponding to the material picking and placing destination signal, and it is determined whether the main controller MCU has received the second material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot extends into the second material chamber to put in the material.

[0011] As a preferred solution for the motion control method of a logistics handling robot, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot is controlled to remain stopped at the entrance position of the first material chamber.

[0012] As a preferred solution of the motion control method of a logistics handling robot, when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the handling robot is controlled to keep stopping at the entrance position of the first material chamber;

[0013] When the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the second time, it controls the execution arm of the transport robot to extend into the first material chamber to take out the material.

[0014] As a preferred solution for the motion control method of a logistics handling robot, if the main controller MCU does not receive the second material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot is controlled to remain stopped at the entrance position of the second material chamber.

[0015] As a preferred solution of the motion control method of a logistics handling robot, when the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the handling robot is controlled to keep stopping at the entrance position of the first material chamber;

[0016] When the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the second time, it controls the execution arm of the transport robot to extend into the second material chamber to put the material in.

[0017] As a preferred solution for the motion control method of a logistics handling robot, when the carrying robot's execution arm performs an extending or retracting action, the main controller MCU sends a three-axis linear interpolation command to the servo or stepping execution controller of the carrying robot's execution arm, so that the carrying robot's execution arm moves in a linear direction.

[0018] As a preferred solution of the motion control method of a logistics handling robot, during the movement of the execution arm of the handling robot, the servo or stepper execution controller of the execution arm of the handling robot controls the servo or stepper motor corresponding to the execution arm of the handling robot to perform trapezoidal acceleration and deceleration actions;

[0019] During the movement of the carrying robot's executing arm, if the carrying robot's executing arm shakes, the servo or stepper executing controller of the carrying robot's executing arm controls the servo or stepper motor corresponding to the carrying robot's executing arm to perform S-shaped acceleration and deceleration.

[0020] The present invention also provides a logistics handling robot motion control system, comprising:

[0021] A material pick-up and placement instruction sending module is used to send a material pick-up and placement instruction to the main controller MCU of the handling robot through the host computer, wherein the material pick-up and placement instruction includes a material pick-up and placement starting point instruction signal, a material pick-up and placement destination instruction signal, and an execution arm selection instruction signal;

[0022] A material pick-up and placement instruction parsing module, which is used for the main controller MCU to parse the material pick-up and placement instruction to obtain a material pick-up and placement starting point signal, a material pick-up and placement destination signal and an execution arm signal after the main controller MCU receives the material pick-up and placement instruction sent by the host computer;

[0023] The material picking and placing action response module is used for the main controller MCU to send an instruction action response signal to the host computer after the material picking and placing instruction is parsed. The main controller MCU controls the action of the handling robot according to the parsing result of the material picking and placing instruction, so that the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting signal;

[0024] The material taking-out processing module is used to stop the action when the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material taking-out starting signal, and judge whether the main controller MCU receives the first material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material;

[0025] The material placement processing module is used to control the execution arm of the transport robot to reach the entrance position of the second material chamber corresponding to the material placement destination signal after the execution arm of the transport robot takes out the material from the first material chamber, and judge whether the main controller MCU has received the second material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot extends into the second material chamber to place the material.

[0026] As a preferred solution of the motion control system of a logistics handling robot, in the material taking-out processing module, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot is controlled to keep stopping at the entrance position of the first material chamber;

[0027] In the material taking-out processing module, when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the handling robot is controlled to remain stopped at the entrance position of the first material chamber; when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the handling robot is controlled to extend into the first material chamber to take out the material;

[0028] The material is placed in the processing module, and if the main controller MCU does not receive the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to keep stopping at the entrance position of the second material chamber;

[0029] The material is placed in the processing module. When the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the first material chamber; when the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the transport robot is controlled to extend into the second material chamber to place the material.

[0030] As a preferred solution for the motion control system of a logistics handling robot, it also includes:

[0031] An execution arm motion processing module, which is used for sending a three-axis linear interpolation command from the main controller MCU to the servo or stepping execution controller of the execution arm of the handling robot when the execution arm of the handling robot performs an extending or retracting action, so that the execution arm of the handling robot moves in a linear manner;

[0032] In the execution arm motion processing module, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform trapezoidal acceleration and deceleration actions;

[0033] In the execution arm motion processing module, if the execution arm of the transport robot shakes, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform S-shaped acceleration and deceleration movements.

[0034] The present invention has the following advantages: a material pick-up and placement instruction is sent to a main controller MCU of a handling robot through a host computer, and the material pick-up and placement instruction includes a material pick-up and placement starting place instruction signal, a material pick-up and placement destination instruction signal, and an execution arm selection instruction signal; when the main controller MCU receives the material pick-up and placement instruction sent by the host computer, the main controller MCU parses the material pick-up and placement instruction to obtain a material pick-up and placement starting place signal, a material pick-up and placement destination signal, and an execution arm signal; when the material pick-up and placement instruction is parsed, the main controller MCU sends an instruction action response signal to the host computer, and the main controller MCU controls the action of the handling robot according to the parsing result of the material pick-up and placement instruction, so that the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material pick-up and placement starting place signal; when the execution arm of the handling robot reaches When the material pick-up and placement start signal is reached, the action is stopped, and it is judged whether the main controller MCU receives the first material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material; after the execution arm of the handling robot takes out the material from the first material chamber, the execution arm of the handling robot is controlled to reach the second material chamber entrance position corresponding to the material pick-up and placement destination signal, and it is judged whether the main controller MCU receives the second material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the second material chamber to put the material in. The present invention can be flexibly controlled according to actual production needs, and the operating speed is increased by more than 30% compared with the traditional technology, the control accuracy is increased by more than 60% compared with the traditional technology, the failure rate is reduced by more than 95% compared with the traditional technology, and the control cost is reduced by more than 95%. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0036] Figure 1 A schematic diagram of the flow chart of the motion control method of a logistics handling robot provided in an embodiment of the present invention;

[0037] Figure 2 A schematic diagram of the hardware architecture of the logistics handling robot motion control method provided in an embodiment of the present invention;

[0038] Figure 3 A schematic diagram of material picking and placing instructions in a logistics handling robot motion control method provided in an embodiment of the present invention;

[0039] Figure 4 A schematic diagram of executing material pick-up and placement instructions in a motion control method for a logistics handling robot provided in an embodiment of the present invention;

[0040] Figure 5 A schematic diagram of trapezoidal acceleration and deceleration in the motion control method for a logistics handling robot provided in an embodiment of the present invention;

[0041] Figure 6 A schematic diagram of S-shaped acceleration and deceleration in the motion control method of a logistics handling robot provided in an embodiment of the present invention;

[0042] Figure 7 This is an architecture diagram of the logistics handling robot motion control system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] Example 1

[0045] See also Figure 1 The embodiment of the present invention provides a method for controlling the motion of a logistics handling robot, comprising the following steps:

[0046] S1. Sending a material pick-up and placement instruction to the main controller MCU of the handling robot through the host computer, wherein the material pick-up and placement instruction includes a material pick-up and placement starting point instruction signal, a material pick-up and placement destination instruction signal, and an execution arm selection instruction signal;

[0047] S2. When the main controller MCU receives the material pick-up and placement instruction sent by the host computer, the main controller MCU parses the material pick-up and placement instruction to obtain a material pick-up and placement starting point signal, a material pick-up and placement destination signal, and an execution arm signal;

[0048] S3. When the material pick-up and placement instruction is parsed, the main controller MCU sends an instruction action response signal to the host computer. The main controller MCU controls the action of the transport robot according to the parsing result of the material pick-up and placement instruction, so that the execution arm of the transport robot reaches the first material chamber entrance position corresponding to the material pick-up and placement starting signal;

[0049] S4, when the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting signal, the action is stopped, and it is determined whether the main controller MCU has received the first material chamber preparation completion signal sent by the host computer. If the main controller MCU has received the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material;

[0050] S5. After the execution arm of the transport robot takes out materials from the first material chamber, the execution arm of the transport robot is controlled to reach the entrance position of the second material chamber corresponding to the material pick-up and placement destination signal, and it is determined whether the main controller MCU has received the second material chamber preparation completion signal sent by the host computer. If the main controller MCU has received the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot extends into the second material chamber to place the materials.

[0051] In this embodiment, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to remain stopped at the entrance of the first material chamber; when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transport robot is controlled to remain stopped at the entrance of the first material chamber; when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the transport robot is controlled to extend into the first material chamber to take out the material.

[0052] Among them, if the main controller MCU does not receive the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the second material chamber; when the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the first material chamber; when the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the transport robot is controlled to extend into the second material chamber to put in the material.

[0053] See also Figure 2 , which is the motion control system architecture of the handling robot to which the motion control method of the logistics handling robot according to the embodiment of the present invention is applied, wherein the main controller MCU of the handling robot is controlled and operated by STM32F103ZET6 as the core; the servo or stepper execution unit of the execution arm of the handling robot adopts MCX314AL, and the servo or stepper execution unit is calculated internally by the main controller MCU according to the material pick-up and place instructions of the host computer, and executes the handling instructions to achieve the purpose of controlling the handling.

[0054] Among them, the host computer sends the material pick-up and placement instructions to the main controller MCU of the handling robot through the RS232 communication protocol. After the handling robot executes, it sends the result response to the host computer through the RS232 protocol.

[0055] See also Figure 3 In a possible embodiment, the material chamber has 4 PORTs, each PORT has 20 layers of positions, and the equipment port has ABCD, a total of 4 chambers with 1 layer of positions. A and C are the placement positions, and B and D are the fetching positions. When the upper computer sends oMOVE(2,1,08,C,01,2) to the main controller MCU, it means that the lower arm takes the material from the 8th layer position of PORT1 and puts it on the 1st layer of the material chamber C.

[0056] See also Figure 4 , which is a complete process of sending and replying a material placement command:

[0057] When the host computer sends the oMOVE(2,0,00,A,01,0) command, the handling robot replies "aMOVE(2,0,00,A,01,0):" to indicate that the execution has started, and then the handling robot replies to the status of the command execution in sequence. The command is executed, the X axis completes the action, and the R axis completes the action. When the handling robot reaches the chamber entrance, the handling robot's executive arm cannot be extended immediately. Wait for the host computer to send the oPINS(1,0,0,E) signal, indicating that the PIN mechanism inside the chamber is ready for placement. When the host computer sends the oPINS(1,0,0,E) signal twice in succession, the handling robot's executive arm can be extended into the material chamber to perform the placement action. If the host computer sends the oPINS(1,0,0,E) signal three times in succession, the third time is not used as a condition for the handling robot's executive arm to extend into the chamber. Generally, only two times are needed to confirm and extend into the chamber.

[0058] In a possible embodiment, when the execution arm of the transport robot performs an extending or retracting action, the main controller MCU sends a three-axis linear interpolation command to the servo or stepper execution controller of the execution arm of the transport robot, so that the execution arm of the transport robot moves in a straight line.

[0059] Specifically, three-axis linear interpolation is performed on the XYZ axis of the handling robot from the current position to the end point coordinates X:15,000 Y:16,000Z:20,000. In the interpolation drive, the initial speed is 500PPS and the acceleration is 40000PPS. The SEE drive speed is 5000PPS to perform linear acceleration / deceleration drive.

[0060] Among them, the main controller MCU selects the WR register in the MCX314 chip through a 4-bit address bus. When the A0, A1, A2 address bus bits are 0, 0, 0, the register is WR0; when the A0, A1, A2 address bus bits are 0, 0, 1, the register is WR1, and so on.

[0061] The main controller MCU reads and writes a WORD value to the WR register in the MCX314 chip through the 16-bit address bus from D0 to D15. For example, if the first line writes a value to WR5, the address selections of A0, A1, and A2 are 1, 0, 1, and the hexadecimal data of 0024H is written from D0 to D15.

[0062] In a possible embodiment, during the movement of the execution arm of the transport robot, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform trapezoidal acceleration and deceleration.

[0063] See also Figure 5When the driving motor of the execution arm of the handling robot changes its speed from 0 to 3000 rpm, acceleration time is required. The calculation process of the MCX314 parameters to achieve trapezoidal acceleration and deceleration is as follows:

[0064] Accelerate / decelerate linearly from initial speed 500PPS to driving speed 15000PPS within 0.3 seconds; range R=4000000, ratio=2 (15000-500) / 0.3=48,333PPS / SEE; acceleration A=193 (48333 / 125) / 2=193; initial speed SV=250 500 / 2=250; driving speed V=7,500 15000 / 2=7,500.

[0065] In a possible embodiment, during the movement of the carrying robot's executing arm, if the carrying robot's executing arm shakes, the servo or stepper executing controller of the carrying robot's executing arm controls the servo or stepper motor corresponding to the carrying robot's executing arm to perform S-shaped acceleration and deceleration.

[0066] Specifically, when the driving motor of the handling robot's execution arm changes from 0 to 3000 rpm, acceleration time is required. If the trapezoidal acceleration and deceleration causes the handling robot's execution arm to shake, then S-type acceleration and deceleration can be used. The calculation process of MCX314 parameters to achieve S-type acceleration and deceleration is as follows:

[0067] See also Figure 6 , is an example of using a full S-curve to accelerate to 40KPPS in 0.4 seconds; first, the initial speed is not considered in the calculation and is taken as 0. Because it is a full S-curve acceleration, the speed is increased to 1 / 2 of 40KPPS (20KPPS) in 1 / 2 of 0.4 seconds (0.2 seconds), and increased to 40KPPS in the remaining 0.2 seconds. At this time, the acceleration increases linearly until 0.2 seconds. The area of ​​the integral value diagonal line is equal to the increase in speed 20KPPS. Therefore, the acceleration in 0.2 seconds is 20000X2 / 0.2=200KPPS / SEE, and the rate of increase in acceleration is 200K / 0.2=1,000KPPS / SEC 2 .

[0068] When running full S-curve acceleration and deceleration, the speed depends on the rate of change of acceleration / deceleration. Therefore, in order to avoid partial S-curve, the acceleration / deceleration should be set to a value above 200KPPS / SEC.

[0069] In summary, the present invention sends a material pick-up and placement instruction to the main controller MCU of the handling robot through the upper computer, and the material pick-up and placement instruction includes a material pick-up and placement starting point instruction signal, a material pick-up and placement destination instruction signal and an execution arm selection instruction signal; when the main controller MCU receives the material pick-up and placement instruction sent by the upper computer, the main controller MCU parses the material pick-up and placement instruction to obtain a material pick-up and placement starting point signal, a material pick-up and placement destination signal and an execution arm signal; when the material pick-up and placement instruction is parsed, the main controller MCU sends a command action response signal to the upper computer, and the main controller MCU controls the action of the handling robot according to the parsing result of the material pick-up and placement instruction, so that the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material pick-up and placement starting point signal; when the execution arm of the handling robot reaches the material chamber entrance position When the main controller MCU reaches the first material chamber entrance position corresponding to the material pick-up and placement starting signal, the action is stopped, and it is judged whether the main controller MCU receives the first material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material; after the execution arm of the handling robot takes out the material from the first material chamber, the execution arm of the handling robot is controlled to reach the second material chamber entrance position corresponding to the material pick-up and placement destination signal, and it is judged whether the main controller MCU receives the second material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the second material chamber to put in the material. The present invention can be flexibly controlled according to actual production needs, and the operating speed is increased by more than 30% compared with the traditional technology, the control accuracy is increased by more than 60% compared with the traditional technology, the failure rate is reduced by more than 95% compared with the traditional technology, and the control cost is reduced by more than 95%.

[0070] It should be noted that the method of the embodiment of the present disclosure can be performed by a single device, such as a computer or a server. The method of the present embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present disclosure, and the multiple devices will interact with each other to complete the described method.

[0071] It should be noted that the above describes some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0072] Example 2

[0073] See also Figure 7 Embodiment 2 of the present invention further provides a logistics handling robot motion control system, comprising:

[0074] The material picking and placing instruction sending module 100 is used to send the material picking and placing instruction to the main controller MCU of the handling robot through the host computer, and the material picking and placing instruction includes a material picking and placing starting point instruction signal, a material picking and placing destination instruction signal and an execution arm selection instruction signal;

[0075] The material picking and placing instruction parsing module 200 is used for, when the main controller MCU receives the material picking and placing instruction sent by the host computer, the main controller MCU parses the material picking and placing instruction to obtain the material picking and placing starting point signal, the material picking and placing destination signal and the execution arm signal;

[0076] The material picking and placing action response module 300 is used for the main controller MCU to send an instruction action response signal to the host computer after the material picking and placing instruction is parsed. The main controller MCU controls the action of the handling robot according to the parsing result of the material picking and placing instruction, so that the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting signal;

[0077] The material taking-out processing module 400 is used to stop the action when the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material taking-out starting point signal, and judge whether the main controller MCU receives the first material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material;

[0078] The material placement processing module 500 is used to control the execution arm of the transport robot to reach the entrance position of the second material chamber corresponding to the material placement destination signal after the execution arm of the transport robot takes out the material from the first material chamber, and judge whether the main controller MCU has received the second material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot extends into the second material chamber to place the material.

[0079] In this embodiment, in the material taking-out processing module 400, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to keep stopping at the entrance position of the first material chamber;

[0080] In the material taking-out processing module 400, when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the handling robot is controlled to remain stopped at the entrance position of the first material chamber; when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the handling robot is controlled to extend into the first material chamber to take out the material;

[0081] The material is placed in the processing module 500. If the main controller MCU does not receive the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the second material chamber;

[0082] The material is placed in the processing module 500. When the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the first material chamber; when the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the transport robot is controlled to extend into the second material chamber to place the material.

[0083] In this embodiment, it also includes:

[0084] The execution arm motion processing module 600 is used for sending a three-axis linear interpolation command from the main controller MCU to the servo or stepping execution controller of the execution arm of the handling robot when the execution arm of the handling robot performs an extending or retracting action, so that the execution arm of the handling robot moves in a linear manner;

[0085] In the execution arm motion processing module 600, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform trapezoidal acceleration and deceleration actions;

[0086] In the execution arm motion processing module 600, if the execution arm of the transport robot shakes, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform S-shaped acceleration and deceleration movements.

[0087] It should be noted that the information interaction, execution process and other contents between the modules of the above-mentioned system are based on the same concept as the method embodiment in Example 1 of the present application, and the technical effects they bring are the same as those of the method embodiment of the present application. For specific contents, please refer to the description in the method embodiment shown in the previous part of the present application, and will not be repeated here.

[0088] Example 3

[0089] Embodiment 3 of the present invention provides a non-transitory computer-readable storage medium, in which a program code of a logistics handling robot motion control method is stored. The program code includes instructions for executing the logistics handling robot motion control method of embodiment 1 or any possible implementation thereof.

[0090] Computer-readable storage media can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0091] Example 4

[0092] Embodiment 4 of the present invention provides an electronic device, including: a memory and a processor;

[0093] The processor and the memory communicate with each other via a bus; the memory stores program instructions that can be executed by the processor, and the processor calls the program instructions to execute the logistics handling robot motion control method of Example 1 or any possible implementation thereof.

[0094] Specifically, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor implemented by reading software codes stored in a memory. The memory can be integrated in the processor or can be located outside the processor and exist independently.

[0095] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center.

[0096] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0097] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A motion control method for a logistics handling robot, characterized in that: The following steps are involved: Sending a material pick-up and placement instruction to the main controller MCU of the handling robot through the host computer, wherein the material pick-up and placement instruction includes a material pick-up and placement starting point instruction signal, a material pick-up and placement destination instruction signal, and an execution arm selection instruction signal; When the main controller MCU receives the material pick-up and placement instruction sent by the host computer, the main controller MCU parses the material pick-up and placement instruction to obtain a material pick-up and placement starting point signal, a material pick-up and placement destination signal, and an execution arm signal; When the material pick-up and placement instruction is parsed, the main controller MCU sends an instruction action response signal to the host computer, and the main controller MCU controls the action of the transport robot according to the parsing result of the material pick-up and placement instruction, so that the execution arm of the transport robot reaches the first material chamber entrance position corresponding to the material pick-up and placement starting signal; When the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting signal, the action is stopped, and it is determined whether the main controller MCU has received the first material chamber preparation completion signal sent by the host computer. If the main controller MCU has received the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material; After the execution arm of the transport robot takes out the material from the first material chamber, the execution arm of the transport robot is controlled to reach the entrance position of the second material chamber corresponding to the material pick-up destination signal, and it is determined whether the main controller MCU has received the second material chamber preparation completion signal sent by the host computer. If the main controller MCU has received the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot extends into the second material chamber to put the material in. When the execution arm of the transport robot performs an extending or retracting action, the main controller MCU sends a three-axis linear interpolation command to the servo or stepping execution controller of the execution arm of the transport robot, so that the execution arm of the transport robot moves in a straight line; During the movement of the execution arm of the transport robot, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform trapezoidal acceleration and deceleration actions; During the movement of the carrying robot's executing arm, if the carrying robot's executing arm shakes, the servo or stepper executing controller of the carrying robot's executing arm controls the servo or stepper motor corresponding to the carrying robot's executing arm to perform S-shaped acceleration and deceleration.

2. A logistics handling robot motion control method according to claim 1, characterized in that: If the main controller MCU does not receive the first material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the first material chamber.

3. A logistics handling robot motion control method according to claim 2, characterized in that: When the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transport robot is controlled to keep stopping at the entrance position of the first material chamber; When the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the second time, it controls the execution arm of the transport robot to extend into the first material chamber to take out the material.

4. A logistics handling robot motion control method according to claim 1, characterized in that: If the main controller MCU does not receive the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the second material chamber.

5. A logistics handling robot motion control method according to claim 4, characterized in that: When the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transport robot is controlled to keep stopping at the entrance position of the first material chamber; When the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the second time, it controls the execution arm of the transport robot to extend into the second material chamber to put the material in.

6. A logistics handling robot motion control system, characterized in that: include: A material pick-up and placement instruction sending module is used to send a material pick-up and placement instruction to the main controller MCU of the handling robot through the host computer, wherein the material pick-up and placement instruction includes a material pick-up and placement starting point instruction signal, a material pick-up and placement destination instruction signal, and an execution arm selection instruction signal; A material pick-up and placement instruction parsing module, which is used for the main controller MCU to parse the material pick-up and placement instruction to obtain a material pick-up and placement starting point signal, a material pick-up and placement destination signal and an execution arm signal after the main controller MCU receives the material pick-up and placement instruction sent by the host computer; The material picking and placing action response module is used for the main controller MCU to send an instruction action response signal to the host computer after the material picking and placing instruction is parsed. The main controller MCU controls the action of the handling robot according to the parsing result of the material picking and placing instruction, so that the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material picking and placing starting signal; The material taking-out processing module is used to stop the action when the execution arm of the handling robot reaches the first material chamber entrance position corresponding to the material taking-out starting signal, and judge whether the main controller MCU receives the first material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the first material chamber preparation completion signal sent by the host computer, the execution arm of the handling robot extends into the first material chamber to take out the material; The material placement processing module is used to control the execution arm of the transport robot to reach the entrance position of the second material chamber corresponding to the material placement destination signal after the execution arm of the transport robot takes out the material from the first material chamber, and judge whether the main controller MCU receives the second material chamber preparation completion signal sent by the host computer. If the main controller MCU receives the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot extends into the second material chamber to place the material; An execution arm motion processing module, which is used for sending a three-axis linear interpolation command from the main controller MCU to the servo or stepping execution controller of the execution arm of the handling robot when the execution arm of the handling robot performs an extending or retracting action, so that the execution arm of the handling robot moves in a linear manner; In the execution arm motion processing module, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform trapezoidal acceleration and deceleration actions; In the execution arm motion processing module, if the execution arm of the transport robot shakes, the servo or stepper execution controller of the execution arm of the transport robot controls the servo or stepper motor corresponding to the execution arm of the transport robot to perform S-shaped acceleration and deceleration movements.

7. A logistics handling robot motion control system according to claim 6, characterized in that: In the material taking-out processing module, if the main controller MCU does not receive the first material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to keep stopping at the entrance position of the first material chamber; In the material taking-out processing module, when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the handling robot is controlled to remain stopped at the entrance position of the first material chamber; when the main controller MCU receives the first material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the handling robot is controlled to extend into the first material chamber to take out the material; The material is placed in the processing module, and if the main controller MCU does not receive the second material chamber preparation completion signal sent by the host computer, the execution arm of the transport robot is controlled to keep stopping at the entrance position of the second material chamber; The material is placed in the processing module. When the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the first time, the execution arm of the transport robot is controlled to remain stopped at the entrance position of the first material chamber; when the main controller MCU receives the second material chamber preparation completion signal sent by the host computer for the second time, the execution arm of the transport robot is controlled to extend into the second material chamber to place the material.

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