Loading operation control system and robot

Abstract

The invention provides a truck loading operation control system and a robot, the truck loading operation control system comprises a first robot, a telescopic transmission machine or a telescopic roller conveying line and a second robot, and materials to be loaded are placed on the telescopic transmission machine or the telescopic roller conveying line through the first robot; the telescopic conveyor or the telescopic roller conveying line conveys the materials to the operation range of the second robot; when the second robot executes loading operation, the position of the operation space is determined according to a visual positioning system of the second robot, the second robot moves into the designated operation space, and the interior of the operation space comprises a container, a carriage, a flat car, a warehouse, a cabin and a cabin. Therefore, the limitation of the arm extension length of the robot and the operation range of a mechanical arm can be broken through, the problem of unstacking and stacking of goods in a narrow space is solved, manual labor is replaced, automation is completely achieved, and the loading efficiency is effectively improved.

Description

Background Art

[0002] With the popularization of robot technology and the continuous development of manufacturing robots, existing robots have been able to adapt to various application scenarios. Especially in scenarios such as intelligent picking, logistics transportation, and warehouse management, palletizing robots are gradually being used to replace workers' high-intensity labor.

[0003] Existing palletizing robots have complex structures and poor flexibility. Due to the limited arm span and the range of the robot's arm, they perform poorly in material loading scenarios such as ports and large storage centers, and are difficult to adapt to the task of palletizing goods in narrow spaces. Summary of the invention

[0004] In view of the defects in the prior art, the object of the present invention is to provide a loading operation control system and a robot.

[0005] In a first aspect, an embodiment of the present application provides a loading operation control system, comprising: a first robot, a telescopic conveyor or a telescopic roller conveyor line, and a second robot, wherein the first robot places a material to be loaded on the telescopic conveyor or the telescopic roller conveyor line, so that the telescopic conveyor or the telescopic roller conveyor line conveys the material to the operating range of the second robot; wherein:

[0006] The second robot is a mobile robot. When performing loading operations, it determines the position of the working space based on its own visual positioning system and moves to the designated working space. The working space includes: containers, carriages, flatbed trucks, warehouses, cabins, and engine rooms.

[0007] Optionally, the second robot comprises: a first robotic arm, a second robotic arm, and a 3D visual positioning system.

[0008] The first robot arm and the second robot arm of the second robot, with the assistance of the 3D visual positioning system, alternately grab materials from the telescopic conveyor or the telescopic roller conveyor line, and perform palletizing operations within the designated working space according to the preset planned pallet type; wherein:

[0009] When the spatial position inside the working space changes due to the stacking of materials, the second robot can actively adjust its position inside the working space according to the change in the spatial position.

[0010] Optionally, the second robot also includes: a first industrial computer and a second industrial computer, the first industrial computer is used to control the first robotic arm to perform grasping and / or placing tasks; the second industrial computer is used to control the second robotic arm to perform grasping and / or placing tasks; wherein: the first industrial computer and the second industrial computer are an integrated structure, or an independent structure.

[0011] Optionally, the first mechanical arm comprises: a first supporting mechanism located on a first mobile chassis, a first joint of the first mechanical arm, a second joint of the first mechanical arm, and a first clamp located at an end of the first mechanical arm;

[0012] The second mechanical arm comprises: a second supporting mechanism located on a second mobile chassis, a first joint of the second mechanical arm, a second joint of the second mechanical arm, and a second clamp located at the end of the second mechanical arm.

[0013] Optionally, the first clamp and the second clamp both include: a back plate, an upper cover, and a plurality of suction cups located below the upper cover; the upper end surface of the back plate is connected to one side of the upper cover, and a right angle is formed between the back plate and the upper cover.

[0014] Optionally, when a telescopic conveyor is used for material transportation, the telescopic conveyor includes: a multi-stage telescopic mechanism, and the multi-stage telescopic mechanism can achieve lateral length adjustment when driven by a motor.

[0015] Optionally, the telescopic conveyor comprises: a first-level telescopic mechanism, a second-level telescopic mechanism, and a third-level telescopic mechanism, and the upper surfaces of the first-level telescopic mechanism, the second-level telescopic mechanism, and the third-level telescopic mechanism are kept flush and share the same conveyor belt;

[0016] A guiding and positioning mechanism is also provided on the side where the telescopic conveyor is connected to the second robot, and the guiding and positioning mechanism is used to guide and position the materials on the telescopic conveyor.

[0017] Optionally, the telescopic conveyor further comprises: at least one height adjustment mechanism, the height adjustment mechanism being used to support the body of the telescopic conveyor and realize longitudinal adjustment to adapt to working scenes of different heights;

[0018] The telescopic conveyor further comprises: a buffer mechanism, the buffer mechanism being located at a downstream position in a conveying direction of the telescopic conveyor and within an operating range of the second robot;

[0019] When the material is transferred to the buffer mechanism, the material is decelerated and stopped;

[0020] The telescopic conveyor further comprises: a roller, the roller being located below the chassis of the telescopic conveyor, the roller being connected to a servo motor to realize autonomous movement of the telescopic conveyor;

[0021] The telescopic conveyor is located close to one side of the second robot. When operating, it extends a preset length into the working space or retracts a preset length according to a first control instruction sent remotely and / or a second control instruction generated by its own processor.

[0022] Optionally, the system further includes: a remote control center, wherein the remote control center establishes communication with the first robot and the second robot by wired means and / or wireless means, and is used to send instructions to the first robot and the second robot to achieve the following tasks:

[0023] Control the first robot to move to one side of the telescopic conveyor or the telescopic roller conveyor line to perform a grabbing and / or placing task, and control the grabbing and / or placing speed;

[0024] Control the second robot to move into a designated working space, perform a grabbing and / or placing task, and control a grabbing and / or placing speed;

[0025] It also includes: a code scanning mechanism, which is arranged on the transmission path of the telescopic conveyor or the telescopic roller conveyor line, and is used to read the identification code on the material to determine the product information of the material according to the identification code;

[0026] A quality inspection mechanism is arranged on the conveying path of the telescopic conveyor or the telescopic roller conveyor line, and is used to obtain an image of the material to perform quality inspection based on the image of the material.

[0027] In a second aspect, an embodiment of the present application further provides a robot, which is applied in a system as described in any one of the first aspects, wherein the robot comprises: at least one industrial computer and a mechanical arm located on a mobile chassis; the mechanical arm comprises: two or more movable joints, and at least one clamp is installed at the end of the mechanical arm;

[0028] During operation, the robot is used to grab and / or place materials.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] In a loading operation control system provided by an embodiment of the present application, a first robot places the material to be loaded on a telescopic conveyor or a telescopic roller conveyor line, so that the telescopic conveyor or the telescopic roller conveyor line conveys the material to the operating range of the second robot; when the second robot performs the loading operation, it determines the position of the operating space according to its own visual positioning system and moves to the designated operating space, which includes: containers, carriages, flatbed trucks, warehouses, cabins, and engine rooms. This can break through the limitations of the robot's own arm span and the operating range of the robot arm, solve the problem of loading goods in a narrow space, replace manual labor, fully realize automation, and effectively improve the efficiency of loading. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0032] Figure 1 An example of an application scenario provided in the present application Figure 1 ;

[0033] Figure 2 An example of an application scenario provided by the present application Figure 2 ;

[0034] Figure 3 An example of an application scenario provided by the present application Figure 3 ;

[0035] Figure 4 An example of an application scenario provided by the present application Figure 4 ;

[0036] Figure 5 A schematic diagram of the structure of the second robot provided in the embodiment of the present application Figure 1 ;

[0037] Figure 6 A schematic diagram of the structure of the second robot provided in the embodiment of the present application Figure 2 ;

[0038] Figure 7 A schematic diagram of the structure of a first robot provided in an embodiment of the present application;

[0039] Figure 8A schematic diagram of the structure of the clamp provided in the embodiment of the present application Figure 1 ;

[0040] Fig. 9 A schematic diagram of the structure of the clamp provided in the embodiment of the present application Figure 2 ;

[0041] Fig.10 A schematic diagram of the structure of the telescopic conveyor provided in the embodiment of the present application Figure 1 ;

[0042] Fig.11 A schematic diagram of the structure of the telescopic conveyor provided in the embodiment of the present application Figure 2 ;

[0043] Fig.12 A schematic diagram of the structure of the telescopic conveyor provided in the embodiment of the present application Figure 3 .

[0044] In the figure:

[0045] 100-first robot, 110-industrial computer, 120-sensor, 130-mobile chassis, 140-support mechanism, 150-first joint, 160-second joint, 170-clamp, 171-back plate, 172-upper cover, 173-suction cup, 180-material, 200-telescopic conveyor, 210-height adjustment mechanism, 220-first-level telescopic mechanism, 230-second-level telescopic mechanism, 240-third-level telescopic mechanism, 250-buffer mechanism, 260-conveyor belt, 270-material, 280-motor, 3 00-container, 400-second robot, 411-first industrial computer, 412-second industrial computer, 421-first sensor, 422-second sensor, 431-first mobile chassis, 432-second mobile chassis, 441-first supporting mechanism, 442-second supporting mechanism, 451-first joint of the first robotic arm, 452-second joint of the second robotic arm, 461-second joint of the first robotic arm, 462-second joint of the second robotic arm, 471-first fixture, 472-second fixture, 480-material. DETAILED DESCRIPTION

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0049] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0050] The following specific embodiments are used to describe in detail the technical solution of the present invention and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0051] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0052] Figure 1 An example of an application scenario provided in the present application Figure 1 ,like Figure 1 As shown, it includes a first robot 100, a telescopic conveyor 200, and a container 300. The telescopic conveyor 200 has a horizontal automatic telescopic function, which is used to transfer the materials grabbed by the first robot 100 to the inside of the container to complete the loading of the materials. Accordingly, the materials inside the container 300 can also be unloaded onto the telescopic conveyor 200 first, and then the telescopic conveyor 200 transports the unloaded materials to the operating range of the first robot 100 to realize the unloading of materials from the container to the pallet.

[0053] Figure 2 An example of an application scenario provided by the present application Figure 2 ,like Figure 2 As shown, in order to more clearly show the operation inside the container 300, the container 300 is hidden. A second robot 400 is provided on the other side of the telescopic conveyor 200. The second robot 400 has two mechanical arms that can work simultaneously or alternately.

[0054] Exemplarily, the second robot 400 may be a robot capable of autonomous movement, or a robot capable of movement with the aid of external force. Figure 2 In the scenario shown, the second mobile robot 400 can enter the interior of the container 300 and cooperate with the telescopic conveyor 200 to achieve the task of stacking and unstacking the materials inside the container. Generally speaking, the internal space of the container is relatively narrow and the depth is large. Therefore, in the traditional loading and unloading process, the robot cannot directly stack and unstacker the materials according to the preset requirements, and manual assistance is required, so the efficiency is low.

[0055] To address this problem, in the embodiment of the present application, the first robot 100 loads the material onto the telescopic conveyor 200, so that the telescopic conveyor 200 transports the material to the operating range of the second robot 400; or, the second robot 400 loads the material onto the telescopic conveyor 200, so that the telescopic conveyor 200 transports the material to the operating range of the first robot 100; when the second robot 400 is operating, it moves to the designated operating space, such as a container, a carriage, etc., according to the first control instruction sent remotely and / or the second control instruction generated by its own processor. In this way, the robot's own arm span length and the limitation of the robot's operating range can be broken through, and the unstacking and stacking of goods in narrow containers and carriages can be solved, manual labor can be replaced, and full automation can be achieved, effectively improving the efficiency of loading and unloading.

[0056] It should be noted that the present application does not specifically limit the interior of the working space. It is only used here to distinguish it from a broad space. In addition to containers and carriages, it can also be inferred, such as flatbed trucks, warehouses, cabins, engine rooms, etc.

[0057] Figure 3 An example of an application scenario provided by the present application Figure 3 , Figure 4 An example of an application scenario provided by the present application Figure 4 ;like Figure 3 , Figure 4As shown, in addition to being applied to the scene inside the container, this embodiment can also be applied to conventional loading and unloading scenes. The first robot 100 and the second robot 400 can be mobile robots, and the telescopic conveyor 200 itself can also be flexibly moved by setting a mobile chassis, rollers, etc. It should be particularly noted that in this embodiment, the second robot 400 is not limited to a dual-arm robot, even if it is a single-arm robot, it does not affect the realization of the effect of the embodiment of the present application.

[0058] It should be noted that Figure 1 to Figure 3 The telescopic conveyor 200 indicated in the figure may also adopt a telescopic roller conveyor line, or other transmission mechanisms, which are not specifically limited in this embodiment. Other transmission mechanisms with similar functions, which are used to perform material transmission between the first robot and the second robot, are all within the scope of this application.

[0059] It should be understood that the above naming of the components of the robot system is for identification purposes only and should not be construed as a limitation on the embodiments of the present application.

[0060] An embodiment of the present application provides a loading operation control system, including: a first robot, a telescopic conveyor or a telescopic roller conveyor line, and a second robot, wherein the first robot is used to place the material to be loaded on the telescopic conveyor or the telescopic roller conveyor line, so that the telescopic conveyor or the telescopic roller conveyor line conveys the material to the operating range of the second robot; wherein: the second robot is a mobile robot, and when performing the loading operation, it determines the position of the working space according to its own visual positioning system, and moves to the designated working space, and the working space includes: a container, a carriage, a flatbed truck, a warehouse, a cabin, and an engine room.

[0061] For example, the interior of the working space described in the present application is not limited to a container, a carriage, a flatbed truck, a warehouse, a cabin, or an engine room, but refers to a general space that is distinguished from a vast space.

[0062] In this embodiment, since the container, carriage, flatbed truck, etc. are movable, it is not possible to ensure that the position is completely consistent when parking, and there is a certain deviation. In view of this situation, the visual positioning system installed on the second robot itself can be used to precisely position the container, carriage, flatbed truck, etc., so that the second robot can smoothly move into these spaces.

[0063] Figure 5 A schematic diagram of the structure of the second robot provided in the embodiment of the present application Figure 1 ,like Figure 5 As shown, the second robot 400 in this embodiment may include: a first mechanical arm, a second mechanical arm, and a 3D visual positioning system;

[0064] With the assistance of the 3D visual positioning system, the first and second robotic arms of the second robot alternately grab materials from the telescopic conveyor or the telescopic roller conveyor line, and perform palletizing operations within the designated working space according to the preset planned pallet type; wherein:

[0065] When the spatial position inside the working space changes due to the stacking of materials, the second robot can actively adjust its position inside the working space according to the change in spatial position.

[0066] For example, at the beginning, the second robot is positioned at a deeper place inside the working space. As the loading operation is carried out, more and more materials are stacked in the working space. At this time, the second robot can adaptively retreat from the inside of the working space according to the on-site stacking situation, thereby realizing flexible stacking of the robot inside the working space, improving loading efficiency, and greatly reducing the requirements for the robot's own arm span and operating range.

[0067] In an optional embodiment, the second robot also includes: a first industrial computer and a second industrial computer, the first industrial computer is used to control the first robotic arm to perform grasping and / or placing tasks; the second industrial computer is used to control the second robotic arm to perform grasping and / or placing tasks.

[0068] In another optional embodiment, the first mechanical arm includes: a first supporting mechanism located on a first mobile chassis, a first joint of the first mechanical arm, a second joint of the first mechanical arm, and a first clamp located at the end of the first mechanical arm. The second mechanical arm includes: a second supporting mechanism located on a second mobile chassis, a first joint of the second mechanical arm, a second joint of the second mechanical arm, and a second clamp located at the end of the second mechanical arm.

[0069] In another optional embodiment, the first clamp and the second clamp both include: a back plate, an upper cover, and a plurality of suction cups located below the upper cover; the upper end surface of the back plate is connected to one side of the upper cover, and a right angle is formed between the back plate and the upper cover.

[0070] It should be noted that this embodiment only provides a preferred structure of a clamp and does not limit the specific type of the clamp. In addition to the clamp with a suction cup, it can also include: a clamping claw, a fork and other structures.

[0071] Figure 6 A schematic diagram of the structure of the second robot provided in the embodiment of the present application Figure 2 ,like Figure 5 , Figure 6As shown, the second robot 400 may include: a first industrial computer 411, a second industrial computer 412, a first sensor 421, a second sensor 422, a first mobile chassis 431, a second mobile chassis 432, a first supporting mechanism 441, a second supporting mechanism 442, a first joint 451 of a first robotic arm, a second joint 452 of a second robotic arm, a second joint 461 of the first robotic arm, a second joint 462 of the second robotic arm, a first clamp 471, a second clamp 472, and material 480.

[0072] In an optional implementation, the first industrial computer 411 and the second industrial computer 412 are integrated into an integrated structure or an independent structure. The first mobile chassis 431 and the second mobile chassis 432 are used to support the second robot body to achieve free movement of the second robot.

[0073] In another optional implementation, the first industrial computer 411 and the second industrial computer 412 independently control the first robot arm and the second robot arm to perform the grabbing and placing tasks. For example, when the first robot arm performs the grabbing task, the second robot arm performs the placing task, or when the first robot arm performs the placing task, the second robot arm performs the grabbing task; thus, alternation can be achieved in space to avoid overlapping of the motion space at the same time.

[0074] In this embodiment, the structures of the first clamp and the second clamp are set to adapt to the material, which can increase the flexibility of the clamp, maintain the overall stability of the stack during the depalletizing process, and enable the material to be grabbed or placed at a higher position.

[0075] An embodiment of the present application also provides a robot, which includes: at least one industrial computer and a robotic arm located on a mobile chassis; the robotic arm includes: two or more movable joints, and at least one clamp is installed at the end of the robotic arm; when working, the robot is used to grab and / or place materials.

[0076] Figure 7 A schematic diagram of the structure of the first robot provided in the embodiment of the present application is shown in FIG. Figure 7 As shown, the first robot 100 may include: an industrial computer 110, a sensor 120, a mobile chassis 130, a support mechanism 140, a first joint 150, a second joint 160, a fixture 170, and a material 180. The industrial computer 110 and the support mechanism 140 are both arranged on the mobile chassis 130, and the industrial computer 110 is in communication connection with the driving motors of the first joint 150 and the second joint 160 to control the first joint 150 and the second joint 160 to move to a preset angle, so that the fixture 170 at the end of the robot arm can reach a specified position to perform a task of grabbing or placing the material 180.

[0077] Figure 8 A schematic diagram of the structure of the clamp provided in the embodiment of the present application Figure 1 , Fig. 9 A schematic diagram of the structure of the clamp provided in the embodiment of the present application Figure 2 ,like Figure 8 , Fig. 9 As shown, the clamp 170 in this embodiment may include: a back plate 171, an upper cover 172, and a suction cup 173. The upper end surface of the back plate 171 is connected to one side of the upper cover 172, and a right angle is formed between the back plate 171 and the upper cover 172. A plurality of suction cups 173 are arranged below the upper cover 172. The suction of the suction cups 173 grabs the material.

[0078] The clamp structure in this embodiment can keep the overall stability of the pallet during the depalletizing process and can achieve grasping or placement at a higher position.

[0079] Fig.10 A schematic diagram of the structure of the telescopic conveyor provided in the embodiment of the present application Figure 1 ,like Fig.10 As shown, the telescopic conveyor 200 in this embodiment may include: a multi-stage telescopic mechanism, which realizes lateral length adjustment under the drive of a motor.

[0080] Exemplarily, the telescopic conveyor includes: a first-level telescopic mechanism, a second-level telescopic mechanism, and a third-level telescopic mechanism. The upper surfaces of the first-level telescopic mechanism, the second-level telescopic mechanism, and the third-level telescopic mechanism are kept flush and share the same conveyor belt.

[0081] Exemplarily, a guide and positioning mechanism is further provided on the side where the telescopic conveyor is connected to the second robot, and the guide and positioning mechanism is used to guide and position the material on the telescopic conveyor. For example, an arc-shaped guide rail is provided to guide and position the material, and a pushing mechanism can also be provided to push the material to a specified position when the material reaches a preset position, so as to facilitate the second robot to grab it.

[0082] Exemplarily, the telescopic conveyor further includes: at least one height adjustment mechanism, which is used to support the body of the telescopic conveyor and realize longitudinal adjustment to adapt to working scenes at different heights.

[0083] Exemplarily, the telescopic conveyor also includes: a buffer mechanism, which is located downstream in the transmission direction of the telescopic conveyor and within the operating range of the second robot, or within the operating range of the first robot; when the material is transmitted to the buffer mechanism, the material is decelerated and stopped.

[0084] In this embodiment, by providing a buffer mechanism, the second robot can keep the material in a stationary state when grasping the material, thereby effectively improving the success rate of grasping.

[0085] Exemplarily, the telescopic conveyor further includes: a roller, which is located below the chassis of the telescopic conveyor and is connected to a servo motor to achieve autonomous movement of the telescopic conveyor.

[0086] Exemplarily, the telescopic conveyor is close to one side of the second robot, and when operating, it extends a preset length into the working space, or retracts a preset length, according to a first control instruction sent remotely and / or a second control instruction generated by its own processor.

[0087] In this embodiment, the telescopic conveyor can be automatically extended and retracted to meet the needs of different operation scenarios. Taking a container as an example, during initial loading, the telescopic conveyor can be extended to a deeper position inside the container. As the loading task is executed, the telescopic conveyor slowly retracts outside the container as needed, so that the second robot operating inside the container can load materials more efficiently. Correspondingly, in the unloading scenario, the opposite is true. The telescopic conveyor slowly extends into the container according to the execution of the unloading task.

[0088] Fig.11 A schematic diagram of the structure of the telescopic conveyor provided in the embodiment of the present application Figure 2 , Fig.12 A schematic diagram of the structure of the telescopic conveyor provided in the embodiment of the present application Figure 3 , combined with Figure 10 to Figure 12 The telescopic conveyor 200 in this embodiment may include: a height adjustment mechanism 210, a first-level telescopic mechanism 220, a second-level telescopic mechanism 230, a third-level telescopic mechanism 240, a buffer mechanism 250, a conveyor belt 260, a material 270, and a motor 280. Driven by the motor 280, the height adjustment mechanism 210 can be controlled to be raised or lowered to adapt to different heights of the working scenes. Driven by the motor 280, the first-level telescopic mechanism 220, the second-level telescopic mechanism 230, and the third-level telescopic mechanism 240 can also be automatically controlled to perform horizontal telescopic movement, so as to adapt to different transmission distances.

[0089] The embodiment of the present application further provides a loading operation control system, in which the system further includes a remote control center, which establishes communication with the first robot and the second robot by wired and / or wireless means to send instructions to the first robot and the second robot to achieve the following tasks:

[0090] 1) Control the first robot to move to one side of the telescopic conveyor, perform grabbing and / or placing tasks, and control the grabbing and / or placing speed.

[0091] 2) Control the second robot to move into the designated working space, perform the grasping and / or placing tasks, and control the grasping and / or placing speed.

[0092] Exemplarily, when a telescopic conveyor is used as a transport mechanism, the telescopic conveyor can also be remotely controlled by a remote control center, for example, the telescopic conveyor can be controlled by the remote control center to adjust its length and / or height.

[0093] In this embodiment, the remote control center can control multiple robots and telescopic conveyors at the same time. For example, in a large port scenario, the remote control center can schedule multiple robots and telescopic conveyors, so that the first robot and the second robot can reach the specified workstation and determine the height and length of the telescopic conveyor.

[0094] The embodiment of the present application further provides a loading operation control method, which is applied to the above-mentioned loading operation control system. The method may include the following steps:

[0095] Step S1: After the second robot reaches the designated working space, the height or length of the telescopic conveyor or the telescopic roller conveyor line is adjusted.

[0096] In this embodiment, the telescopic conveyor or the telescopic roller conveyor line is used to realize the transmission relay between the first robot and the second robot, that is, to adapt to the operating range of the first robot and the second robot in the height direction and the length direction.

[0097] Step S2: Determine the operation parameters of the first robot and the second robot.

[0098] The operation parameters in this embodiment include: the interval step length of the grasping or placing task, the motion parameters of the robot arm, the stack type information, etc.

[0099] Step S3: Execute the material grabbing or placing task according to the operation parameters.

[0100] In this embodiment, the first robot places the material to be loaded on the telescopic conveyor or telescopic roller conveyor line, so that the telescopic conveyor or telescopic roller conveyor line conveys the material to the working range of the second robot; when the second robot performs the loading operation, it determines the position of the working space according to its own visual positioning system and moves to the designated working space, which includes: containers, carriages, flatbed trucks, warehouses, cabins, and engine rooms. This can break through the limitations of the robot's own arm span and the operating range of the robot arm, solve the problem of unpacking and stacking goods in a narrow space, replace manual labor, fully realize automation, and effectively improve the efficiency of loading.

[0101] An embodiment of the present application also provides a loading operation control device. The loading operation control device in this embodiment may include: a processor and a memory.

[0102] The memory is used to store programs; the memory may include volatile memory (English: volatile memory), such as random-access memory (English: random-access memory, abbreviated: RAM), such as static random-access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory 802 is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories. And the above computer programs, computer instructions, data, etc. can be called by the processor.

[0103] The above-mentioned computer programs, computer instructions, etc. may be stored in one or more memories in partitions, and the above-mentioned computer programs, computer instructions, data, etc. may be called by a processor.

[0104] The processor is used to execute the computer program stored in the memory to implement the various steps in the method involved in the above embodiment.

[0105] For details, please refer to the relevant description in the previous method embodiment.

[0106] The processor and the memory may be independent structures or integrated structures. When the processor and the memory are independent structures, the memory and the processor may be coupled and connected via a bus.

[0107] The loading operation control device of this embodiment can execute the technical solution in the above method. Its specific implementation process and technical principles can be found in the relevant description of the above method, which will not be repeated here.

[0108] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as systems, methods or program products. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: complete hardware implementation, complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "platforms".

[0109] In addition, an embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When at least one processor of a user device executes the computer-executable instructions, the user device executes the above-mentioned various possible methods.

[0110] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.

[0111] The present application also provides a program product, which includes a computer program. The computer program is stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium. At least one processor executes the computer program so that the server implements any method of the above-mentioned embodiments of the present invention.

[0112] Those skilled in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, etc. Various media that can store program codes.

[0113] It can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited to this. In this document, a readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus or device.

[0114] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0115] Computer readable storage media may include data signals propagated in baseband or as part of a carrier wave, wherein readable program codes are carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program codes contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0116] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0117] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0118] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A loading operation control system, characterized in that: include: A first robot, a telescopic conveyor or a telescopic roller conveyor line, and a second robot, wherein the first robot places the material to be loaded on the telescopic conveyor or the telescopic roller conveyor line, so that the telescopic conveyor or the telescopic roller conveyor line conveys the material to the operating range of the second robot; wherein: The second robot is a mobile robot. When performing loading operations, it determines the position of the working space based on its own visual positioning system and moves to the designated working space. The working space includes: containers, carriages, flatbed trucks, warehouses, cabins, and engine rooms.

2. The loading operation control system according to claim 1, characterized in that: The second robot comprises: a first robotic arm, a second robotic arm, and a 3D visual positioning system. The first robot arm and the second robot arm of the second robot, with the assistance of the 3D visual positioning system, alternately grab materials from the telescopic conveyor or the telescopic roller conveyor line, and perform palletizing operations in a designated working space according to a preset planned pallet type; wherein: When the spatial position inside the working space changes due to the stacking of materials, the second robot can actively adjust its position inside the working space according to the change in spatial position.

3. The loading operation control system according to claim 2, characterized in that: The second robot also includes: a first industrial computer and a second industrial computer, the first industrial computer is used to control the first robotic arm to perform grasping and / or placing tasks; the second industrial computer is used to control the second robotic arm to perform grasping and / or placing tasks; wherein: the first industrial computer and the second industrial computer are an integrated structure, or an independent structure.

4. The loading operation control system according to claim 2, characterized in that: The first mechanical arm comprises: a first supporting mechanism located on a first mobile chassis, a first joint of the first mechanical arm, a second joint of the first mechanical arm, and a first clamp located at the end of the first mechanical arm; The second mechanical arm comprises: a second supporting mechanism located on a second mobile chassis, a first joint of the second mechanical arm, a second joint of the second mechanical arm, and a second clamp located at the end of the second mechanical arm.

5. The loading operation control system according to claim 4, characterized in that: The first clamp and the second clamp both include: a back plate, an upper cover, and a plurality of suction cups located below the upper cover; the upper end surface of the back plate is connected to one side of the upper cover, and a right angle is formed between the back plate and the upper cover.

6. The loading operation control system according to claim 1, characterized in that: When a telescopic conveyor is used for material transportation, the telescopic conveyor comprises: a multi-stage telescopic mechanism, and the multi-stage telescopic mechanism can realize lateral length adjustment under the drive of a motor.

7. The loading operation control system according to claim 6, characterized in that: The telescopic conveyor comprises: a first-level telescopic mechanism, a second-level telescopic mechanism, and a third-level telescopic mechanism, wherein the upper surfaces of the first-level telescopic mechanism, the second-level telescopic mechanism, and the third-level telescopic mechanism are kept flush and share the same conveyor belt; A guiding and positioning mechanism is also provided on the side where the telescopic conveyor is connected to the second robot, and the guiding and positioning mechanism is used to guide and position the materials on the telescopic conveyor.

8. The loading operation control system according to claim 6, characterized in that: The telescopic conveyor further comprises: at least one height adjustment mechanism, the height adjustment mechanism being used to support the body of the telescopic conveyor and realize longitudinal adjustment to adapt to working scenes of different heights; The telescopic conveyor further comprises: a buffer mechanism, the buffer mechanism being located downstream in the conveying direction of the telescopic conveyor and within the operating range of the second robot; When the material is transferred to the buffer mechanism, the material is decelerated and stopped; The telescopic conveyor further comprises: a roller, the roller being located below the chassis of the telescopic conveyor, the roller being connected to a servo motor to realize autonomous movement of the telescopic conveyor; The telescopic conveyor is located close to one side of the second robot. When operating, it extends a preset length into the working space or retracts a preset length according to a first control instruction sent remotely and / or a second control instruction generated by its own processor.

9. The loading operation control system according to any one of claims 1 to 5, characterized in that: Also includes: A remote control center, wherein the remote control center establishes communication with the first robot and the second robot by wired means and / or wireless means, and is used to send instructions to the first robot and the second robot to achieve the following tasks: Control the first robot to move to one side of the telescopic conveyor or the telescopic roller conveyor line to perform a grabbing and / or placing task, and control the grabbing and / or placing speed; Control the second robot to move into a designated working space, perform a grabbing and / or placing task, and control a grabbing and / or placing speed; It also includes: a code scanning mechanism, which is arranged on the transmission path of the telescopic conveyor or the telescopic roller conveyor line, and is used to read the identification code on the material to determine the product information of the material according to the identification code; A quality inspection mechanism is arranged on the conveying path of the telescopic conveyor or the telescopic roller conveyor line, and is used to obtain an image of the material to perform quality inspection based on the image of the material.

10. A robot, characterized in that: In the system as claimed in any one of claims 1 to 9, the robot comprises: at least one industrial computer and a mechanical arm located on a mobile chassis; the mechanical arm comprises: two or more movable joints, and at least one clamp is installed at the end of the mechanical arm; During operation, the robot is used to grab and / or place materials.

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